WO2022003849A1 - Path determination device and path determination method - Google Patents
Path determination device and path determination method Download PDFInfo
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- WO2022003849A1 WO2022003849A1 PCT/JP2020/025753 JP2020025753W WO2022003849A1 WO 2022003849 A1 WO2022003849 A1 WO 2022003849A1 JP 2020025753 W JP2020025753 W JP 2020025753W WO 2022003849 A1 WO2022003849 A1 WO 2022003849A1
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- vehicle
- road
- branch point
- route
- input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
Definitions
- This disclosure relates to the determination of a route in automatic driving control of a vehicle that does not determine a destination.
- the automatic driving control of the vehicle includes the automatic driving control that defines the destination and the automatic driving control that drives the vehicle along the road without defining the destination.
- the former is referred to as destination-based automated driving control
- the latter is referred to as road-based automated driving control.
- Patent Document 1 discloses an automatic driving system that performs automatic driving control along the road.
- the automatic driving system of Patent Document 1 inquires the user about the passing direction of the branch point every time the vehicle approaches the branch point, and if there is no response from the user, the vehicle is parked in the parking facility in front of the branch point.
- the user has to input a desired passing direction every time the vehicle approaches a branch point, which causes a problem that it is troublesome to input.
- the vehicle automatically drives along the road without confirming the user's wishes, there is a problem that the vehicle travels at the branch point in a direction different from the user's wishes.
- This disclosure is made in order to solve the above-mentioned problems, and in the automatic driving control along the road, the time and effort for the user to input the passing direction at the branch point is reduced, and the vehicle is in a direction not intended by the user.
- the purpose is to prevent the vehicle from traveling at a fork.
- the route determination device of the present disclosure is a route determination device for determining a travel route of a vehicle controlled by a travel control device for automatic driving, and is a route determination device for determining a travel route from a branch point in front of the vehicle based on a predetermined master-slave rule.
- a regulation unit that defines one road as a main road and a secondary road as a secondary road among a plurality of branching roads, a caution level detection unit that detects the user's attention level to the running of a vehicle, and a caution level are predetermined.
- a notification unit that notifies the user of the approach of the vehicle to the branch point when the value is less than the first threshold, and an input reception unit that accepts input of the desired road, which is the road that the user desires to drive among a plurality of roads.
- the route determination unit is provided, in which the desired road is used as the vehicle's travel route if the desired road is input, and the main road is used as the vehicle's travel route if the desired road is not input.
- the main road becomes the travel route of the vehicle when the user does not input the desired road. Therefore, the user does not have to input the desired road at each branch point, and only needs to input the desired road when he / she wants to drive on the subordinate road, which reduces the time and effort of inputting. Further, since the user with a low degree of attention is notified of the approach to the branch point, it is possible to prevent the vehicle from traveling in an unintended direction without the user noticing it.
- FIG. 1 It is a block diagram which shows the structure of the routing apparatus of Embodiments 1, 2, and 3. It is a flowchart which shows the route determination process by the route determination apparatus of Embodiment 1.
- FIG. It is a figure which shows the notification example of the branch point at the time of a high degree of attention of a driver by the route determination apparatus of Embodiment 1.
- FIG. It is a figure which shows the notification example of the branch point at the time of low attention of a driver by the route determination apparatus of Embodiment 1.
- FIG. It is a figure which shows the example of the notification of the traveling route when the driver's attention is high by the route determination device of Embodiment 1.
- FIG. It is a figure which shows the notification example of the traveling route when the attention degree of a driver is low by the route determination apparatus of Embodiment 1.
- FIG. It is a flowchart which shows the route determination process by the route determination apparatus of Embodiment 2. It is a figure which shows the notification timing of the branch point by the route determination apparatus of Embodiment 2. It is a flowchart which shows the route determination process by the route determination apparatus of Embodiment 3.
- FIG. It is a block diagram which shows the structure of the route determination apparatus of Embodiment 4. It is a flowchart which shows the route determination process by the route determination apparatus of Embodiment 4. It is a figure which shows the permission area. It is a figure which shows the correction permission area.
- FIG. 1 is a block diagram showing a configuration of the routing device 101 according to the first embodiment.
- the route determination device 101 inputs the travel route of the vehicle to the travel control device 26 that controls the automatic driving of the vehicle.
- the travel control device 26 automatically drives the vehicle according to the travel route input from the route determination device 101.
- a vehicle to which the route determining device of each embodiment determines a traveling route is simply referred to as a vehicle.
- the route determination device 101 is connected to the positioning device 21, the driver monitoring device 22, the input device 23, the display device 24, and the speaker 25, and is configured to be usable.
- the positioning device 21, the driver monitoring device 22, the input device 23, the display device 24, and the speaker 25 are all mounted on the vehicle.
- the positioning device 21 is a device that measures the position of the vehicle.
- the positioning device 21 is, for example, a receiver for a GNSS (Global Navigation Satellite System) signal.
- the positioning device 21 outputs the measured position of the vehicle to the position detection unit 12.
- GNSS Global Navigation Satellite System
- the driver monitoring device 22 detects the user's state and outputs it to the route determination device 101.
- the user is a passenger of the vehicle, for example, a driver. In the following description, the driver will be used as an example of the user.
- the driver monitoring device 22 can detect the driver's line-of-sight direction or alertness by analyzing the image taken by the driver by the camera mounted on the vehicle. Further, the driver monitoring device 22 is configured to include a biosensor that non-invasively measures biometric information such as the driver's heart rate or body temperature, and can acquire the driver's arousal level from the driver's biometric information. Is.
- the input device 23 is a device for inputting the driving road (hereinafter referred to as "desired road") after the branch point desired by the driver to the route determination device 101.
- the input device 23 is realized by, for example, a mechanical button or switch, a touch panel, or the like. Further, the input device 23 may be configured by a voice recognition device and may acquire a desired road from the voice spoken by the driver. Further, as the input device 23, existing equipment used for manual driving operation of the vehicle, such as a winker lever, may be used. Further, the input device 23 may acquire the desired road from the gesture of the driver or the line of sight.
- the display device 24 and the speaker 25 are devices for the route determination device 101 to notify the driver.
- the display device 24 is, for example, a center display (Center Information Display) or a HUD (Head-Up Display) of the vehicle.
- the route determination device 101 notifies the driver by at least either display or voice.
- the route determination device 101 includes a map storage unit 11, a position detection unit 12, a regulation unit 13, an attention level detection unit 14, an input reception unit 15, and a route determination unit 16.
- the map storage unit 11 stores map data.
- the position detection unit 12 acquires the position of the vehicle from the positioning device 21.
- the position detection unit 12 may correct the position of the vehicle acquired from the positioning device 21 by performing map matching using the map data stored in the map storage unit 11.
- the regulation unit 13 grasps the branch point through which the vehicle will pass in the future by using the position of the vehicle acquired from the position detection unit 12 and the map data acquired from the map storage unit 11.
- a branch point is a point where a plurality of roads branch off from the point behind in the direction of travel of the vehicle.
- Y-shaped roads, T-shaped roads, intersections, and the like are examples of branch points.
- Interchanges or junctions are examples of junctions on highways.
- the regulation unit 13 determines one road as the main road and the other road as the secondary road from among the plurality of roads branching from the branch point, using the predetermined master-slave rule. There is one main road, but there may be multiple secondary roads.
- the master-slave rule is included in the map data stored in the map storage unit 11, for example. Hereinafter, the master-slave rule shall be included in the map data.
- the caution level detection unit 14 acquires the driver's state from the driver monitoring device 22, and detects the driver's caution level based on this.
- the degree of attention is an index showing how much attention the driver pays to the running of the vehicle.
- the alertness is, for example, the driver's alertness. That is, when the driver is sleeping, he / she is detected with a lower degree of attention than when he / she is awake.
- the degree of caution can also be detected from the direction of the driver's line of sight. For example, when the driver is looking at a place irrelevant to the traveling direction of the vehicle, for example, when the driver is looking at the mobile terminal, the degree of caution is detected to be lower than when the driver is looking at the traveling direction of the vehicle.
- the input receiving unit 15 receives the input of the driver's desired road from the input device 23.
- the route determination unit 16 acquires information on the main road and the secondary road from the regulation unit 13, acquires the driver's attention level from the attention level detection unit 14, and acquires information on the desired road from the input reception unit 15, and these Based on the above, one of the plurality of roads branching from the branch point is determined as the traveling route of the vehicle.
- the route determination unit 16 outputs the determined travel route to the travel control device 26.
- the travel control device 26 performs automatic driving control of the vehicle according to the travel route determined by the route determination unit 16. As a result, the vehicle travels at the branch point in the direction of the travel route determined by the route determination unit 16.
- the notification unit 17 uses at least one of the display device 24 and the speaker 25 to give various notifications to the driver.
- the notification unit 17 functions as a display control unit that controls the display on the display device 24.
- the notification unit 17 functions as an audio output control unit that controls the audio output of the speaker 25.
- the vehicle has three driving modes: manual driving, automatic driving with a destination, and automatic driving along the road.
- manual operation the travel control device 26 does not perform any particular travel control on the vehicle.
- automatic driving with a destination the travel control device 26 drives the vehicle along a predetermined route from the current location of the vehicle to the destination.
- automatic road driving the travel control device 26 controls the vehicle so as to pass through the branch point in the direction determined by the route determination device 101 without determining the destination of the vehicle.
- FIG. 2 is a flowchart showing a route determination process by the route determination device 101.
- the flow of FIG. 2 starts when the vehicle follows the road and starts automatic driving.
- the position detection unit 12 detects the position of the vehicle (step S101).
- the attention level detection unit 14 detects the driver's attention level (step S102).
- the regulation unit 13 acquires the position of the vehicle from the position detection unit 12, acquires the map data around the road on which the vehicle travels from the map storage unit 11, and uses these to reach the branch point ahead of the vehicle. It is determined whether or not the vehicle is approaching within 8 km (step S103).
- 8 km is an example of a distance.
- the regulation unit 13 determines the distance as a guideline for approaching the branch point, the time required for approaching the branch point may be determined as a guideline for approaching. In this case, the regulation unit 13 predicts the time required to reach the branch point based on the traveling speed of the vehicle and the distance to the branch point.
- the process of the route determination device 101 returns to step S101. If the vehicle is approaching the branch point within 8 km in step S103, the regulation unit 13 mainly uses one of the plurality of roads branching from the front branch point based on the master-slave rule included in the map data. Decide that it is a road, and decide that another road is a secondary road. Then, the regulation unit 13 determines the main road as the traveling route of the vehicle (step S104).
- the main road and the sub-road are defined as follows. 1) On a highway, when the junction is an interchange, the main road is a continuous highway, and the secondary road is a road that descends from the interchange to a general road. 2) In general roads, the main road has the same name as the road currently running, and the secondary road has a different name from the road currently running. 3) If any of the roads that branch off from the junction is a road with a different name from the road that is currently running, the main road is the same road type as the road that is currently running. , Sub-roads are other roads.
- the attention level detection unit 14 determines whether or not the driver's attention level is less than a predetermined first threshold value (step S105). If the driver's attention level is less than the first threshold value in step S105, the notification unit 17 notifies that the vehicle is approaching the branch point (hereinafter referred to as "approach notification") (step S106).
- FIG. 3 shows an example of the approach notification in step S106.
- FIG. 3 shows an example of display and voice approach notification, and the HUD 51 is used as the display device 24.
- the HUD 51 has a display area that overlaps the front view of the driver, and the driver visually recognizes the vehicle 52 in front of the HUD 51 so as to overlap the display area of the HUD 51.
- the branch point object 53 which is a display object representing the branch point ahead, is displayed on the HUD 51.
- the front junction is branched into a straight road and a road deviating to the left.
- the straight road is the main road and the road deviating to the left is the secondary road.
- the line segment 54 representing a straight road is represented by a solid line
- the line segment 55 representing a road deviating to the left is represented by a dotted line.
- the speaker 25 outputs a voice such as "8 km to the branch point. Do you want to select a road?" In this way, the speaker 25 outputs a voice prompting the driver to select a desired road. Notifications prompting the selection of the desired road may be given by display.
- the approach notification shown in FIG. 3 is performed when the attention level is less than the first threshold value, that is, when the driver's attention level is low. As a result, the driver can recognize that there is a branch point ahead and input the desired road as needed.
- the notification unit 17 does not give an approach notification. This is because a high-attention driver is already aware that there is a fork in front of him. In this way, the route determination device 101 does not cause trouble to the driver by giving an approach notification only when the driver's attention is low.
- step S107 the input receiving unit 15 determines whether or not there is an input for the desired road (step S107).
- the input receiving unit 15 receives the input of the desired road from the input device 23, the input receiving unit 15 determines that the desired road is input. Since the main road has already been determined as the travel route in step S104, the driver does not need to input the desire when he / she wishes to travel on the main road. Since the driver only needs to input a specific secondary road as a desired road only when he / she wants to drive on the secondary road at the branch point, it is not necessary to input the desired road at each branch point.
- the route determination unit 16 acquires the information of the desired road from the input reception unit 15 and determines the desired road as the traveling route of the vehicle (step S108). When a specific secondary road is input as a desired road, the route determination unit 16 changes the traveling route from the main road determined in step S103 to the secondary road. Then, the route determination device 101 shifts to the process of step S109.
- step S107 If there is no input of the desired road in step S107, the route determination device 101 shifts to the process of step S109 while the traveling route remains the main road.
- step S109 the position detection unit 12 detects the position of the vehicle again (step S109). Then, the position detection unit 12 determines whether or not the vehicle has passed the branch point (step S110). If the vehicle has not passed the branch point in step S110, the process of the route determination device 101 returns to step S107. Therefore, the driver can input the desired road after the fork until the vehicle passes the fork. If the vehicle has passed the branch point in step S110, the process of the route determination device 101 returns to step S101.
- the notification unit 17 gives an approach notification (hereinafter referred to as “first approach notification”) as shown in FIG. 3 only when the driver's attention level is less than the first threshold value.
- the notification unit 17 may also perform an approach notification (hereinafter referred to as "second approach notification”) even when the driver's attention level is equal to or higher than the first threshold value (No in step S105).
- the second approach notification has a lower perception than the first approach notification.
- FIG. 4 shows an example of the second approach notification.
- the branch point object 53 is displayed on the HUD 51, but the text 56 indicating the distance to the branch point is not displayed.
- the second approach notification has a lower perception than the first approach notification because the number of display objects is reduced. Further, since the second approach notification is performed only by the display, the perception is lower than that of the first approach notification.
- the first approach notification and the second approach notification may be different as long as there is a difference in the degree of perception in different modes, and are not limited to the modes shown in FIGS. 3 and 4.
- the display object in the first approach notification, the display object may be displayed with an animation effect such as blinking for a certain period of time.
- the branch point object 53 may be displayed in a color that is more prominent in the first approach notification than in the second approach notification.
- the display object displayed by the second approach notification may be reduced in size after a certain period of time has elapsed from the start of display, or may be hidden. Further, the display object may be repeatedly displayed and hidden. In this case, the number of repetitions of the display is set in the first approach notification more than in the second approach notification.
- the route determining device 101 may notify the user to that effect (hereinafter, referred to as "route change notification").
- FIG. 5 is an example of a route change notification (hereinafter referred to as “first route change notification”) after the first approach notification shown in FIG. That is, the display of the HUD 51 shifts from the display shown in FIG. 3 to the display shown in FIG. At the time of FIG. 5, the vehicle is traveling at a position of 5 km to the branch point. In the branch point object 53, the line segment 54 representing a straight road is represented by a dotted line, and the line segment 55 representing a road deviating to the left is represented by a solid line. You can recognize that it is done. Further, at the same time as the display of the HUD 51 in FIG. 5, a voice such as "Turn left at the branch point" is output from the speaker 25. In this way, the driver can recognize from both the display of the HUD 51 and the voice of the speaker 25 that the traveling route for turning left at the branch point has been set.
- first route change notification a route change notification after the first approach notification shown in FIG. That is, the display of the HUD 51 shifts from the
- FIG. 6 is an example of a route change notification (hereinafter referred to as “second route change notification”) after the second approach notification shown in FIG. That is, the display of the HUD 51 shifts from the display shown in FIG. 4 to the display shown in FIG. In the example of FIG. 6, the text 56 is not displayed on the HUD 51. Further, the second route change notification may be performed only by display, as in the case of the second approach notification. Just as there is a difference in perception between the first approach notification and the second approach notification, there is also a difference in perception between the first route change notification and the second route change notification.
- the route determination device 101 of the first embodiment determines the travel route of the vehicle to be automatically driven under the control of the travel control device 26.
- the route determination device 101 includes a ruler 13 that defines one of a plurality of roads branching from a branch point in front of the vehicle as a main road and the other road as a secondary road based on a predetermined master-slave rule.
- a caution level detection unit 14 that detects the user's attention level to the running of the vehicle, and a notification unit 17 that notifies the user of approaching the branch point of the vehicle when the caution level is less than a predetermined first threshold value.
- the input reception unit 15 that accepts the input of the desired road, which is the road that the user wants to drive among a plurality of roads, and if there is an input of the desired road, the desired road is set as the vehicle's travel route, and if there is no input of the desired road.
- the route determination unit 16 is provided with the main road as the travel route of the vehicle.
- the travel control device 26 performs automatic driving control along the road that causes the vehicle to travel along the travel route determined by the route determination unit 16.
- the notification unit 17 may notify the approach of the vehicle to the branch point in a manner in which the user's perception level is lower than when the attention level is less than the first threshold value. good. According to this configuration, when the user's attention is high, it is possible to notify the user of the approach to the branch point to the extent that the user is not bothered.
- Embodiment 2 > ⁇ B-1.
- the route determining device 102 sets the parking facility in front of the branch point as the destination. That is, when the driver's attention is low, the route determining device 102 stops the automatic driving control along the road, and causes the traveling control device 26 to stop the vehicle at the parking facility. This prevents the driver from passing through the junction in an unintended direction.
- FIG. 7 is a flowchart showing a route determination process of the route determination device 102 of the second embodiment.
- the operation of the route determining device 102 will be described with reference to the flowchart of FIG. 7.
- the flow of FIG. 7 starts when the vehicle follows the road and starts automatic driving.
- Step S201 and step S202 are the same as step S101 and step S102 in FIG.
- the regulation unit 13 acquires the position of the vehicle from the position detection unit 12, acquires the map data around the road on which the vehicle travels from the map storage unit 11, and uses these to branch in front of the vehicle. Detect points. Then, the regulation unit 13 detects the parking facility in front of the detected branch point. Further, the regulation unit 13 determines whether or not the vehicle is approaching the parking facility detected within 8 km (step S203). Here, 8 km is an example of a distance. Further, although the regulation unit 13 determines the distance as a guideline for approaching the parking facility, the regulation unit 13 may determine the time required for approaching the parking facility as a guideline for approaching.
- the regulation unit 13 predicts the time required for the parking facility based on the traveling speed of the vehicle and the distance to the parking facility.
- the parking facility may be a facility where vehicles can be parked. For example, in the case of a highway, a parking area or a service area corresponds to a parking facility.
- step S203 If the vehicle is not within 8 km from the parking facility in step S203, the process of the route determination device 102 returns to step S101. If the vehicle is approaching within 8 km from the parking facility in step S203, the route determination device 102 performs the processing after step S204.
- the processing from step S204 to step S206 is the same as that from step S104 to step S106 in FIG.
- the notification unit 17 gives an approach notification to the effect that the vehicle is approaching the branch point (step S206). Then, the route determination unit 16 sets the parking facility as the destination (step S207). The travel control device 26 acquires destination information from the route determination unit 16 and controls the travel of the vehicle so as to park in a parking facility.
- step S207 and in step S205 when the driver's attention level is equal to or higher than the first threshold value, the route determination device 102 performs the processing after step S208.
- step S207 or when the driver's attention level is equal to or higher than the first threshold value in step S205, the input receiving unit 15 determines whether or not there is an input for the desired road (step S208).
- Step S208 If there is an input of the desired road in step S208, the route determination device 102 processes from step S209 to step S211. Steps S209 to S211 are the same as steps S108 to S110 in FIG.
- the caution level detection unit 14 again determines whether or not the driver's caution level is less than the threshold value (step S212).
- the driver's attention level is equal to or higher than the threshold value in step S212, the destination of the vehicle is not set and the main road is determined as the traveling route (step S204). In this case, the position detection unit 12 proceeds to the process of step S210.
- step S212 If the driver's attention level is less than the threshold value in step S212, the parking facility in front of the branch point is set as the destination (step S207). In this case, the position detection unit 12 detects the position of the vehicle (step S213) and determines whether or not the vehicle has completed parking (step S214). If the parking of the vehicle is not completed in step S214, the process of the position detection unit 12 returns to step S213. The position detection unit 12 repeats the processes of steps S213 and S214 until the vehicle completes parking.
- the route determination device 101 of the first embodiment when there is no input of the desired road of the driver, the main road is always used as the travel route of the vehicle and automatic driving control is performed regardless of the degree of attention of the driver.
- the route determination device 102 when the driver does not input the desired road and the driver's attention is low, the parking facility in front of the branch point is set as the destination of the vehicle, and the vehicle To park in a parking facility.
- the route determining device 102 the vehicle continues to travel on the main road without the driver noticing, and the vehicle is suppressed from traveling in a direction not intended by the driver.
- FIG. 8 is a diagram showing the timing of approach notification by the route determination device 102.
- the vehicle 40 is traveling on the highway H1, and in front of the vehicle, there are interchanges IC1, IC2, and IC3 which are branch points for descending to the general roads G1, G2, and G3.
- P (t) be the position of the vehicle 40 at time t.
- the times when the route determination device 102 notifies the approach to the interchange IC1 and IC2 are T1 and T2.
- T1 is 10 minutes before the vehicle 40 reaches the parking area PA1 which is the parking facility in front of the interchange IC1
- T2 is 10 minutes before the vehicle 40 reaches the service area SA1 which is the parking facility in front of the interchange IC2.
- 10 minutes ago is an example.
- the route determination device 102 notifies the approach to the interchange IC1 at time T1 (step S206). If the driver's attention level is less than the threshold value and there is no input of the desired road, the route determination device 102 sets the parking area PA1 as the destination of the vehicle 40, and the vehicle 40 parks in the parking area PA1. Further, if the driver's attention level is less than the threshold value and there is no input of the desired road, the route determination device 102 determines the route that passes through the interchange IC1 and continues to travel on the expressway H1 as the travel route. Further, if there is an input with the general road G1 as the desired road, the route determination device 102 determines the route going down to the general road G1 as the travel route by the interchange IC1.
- the route determination device 102 performs the same operation for the interchange IC2.
- the route determination device 102 notifies the approach to the interchange IC3 based on the distance to the service area SA1 for the interchange IC2 or the required time. That is, the route determination device 102 simultaneously performs both the approach notification to the interchange IC 2 and the approach notification to the interchange IC 3 at the timing T2 10 minutes before the selection to the service area SA1.
- the route determination unit 16 determines the main road as the traveling route of the vehicle if the caution level is equal to or higher than the first threshold value, and the caution level is determined. If it is less than the first threshold value, the parking facility in front of the branch point is determined as the destination of the vehicle. Then, when the parking facility is determined as the destination of the vehicle, the travel control device 26 stops the vehicle at the parking facility. Therefore, the route determining device 102 suppresses the vehicle from continuing to travel on the main road unintentionally without the driver noticing it.
- Embodiment 3 > ⁇ C-1.
- the regulation unit 13 defines a plurality of roads branching from the branch point as the main road and the sub road according to the master-slave rule.
- the branch point where the main road and the slave road can be defined according to the master-slave rule is referred to as a clear branch point, and the impossible branch point is referred to as an unclear branch point.
- the route determination device 102 of the second embodiment when the driver's attention is low and there is no input of the desired road, the parking facility in front of the branch point is set as the destination of the vehicle.
- the route determining device 103 of the third embodiment aims at a parking facility in front of the branch point only at the unclear branch point when the driver's attention is low and there is no input of the desired road.
- the ground will be the ground, and the main road will be the vehicle's driving road at the clear junction.
- FIG. 9 is a flowchart showing a route determination process of the route determination device 103 of the third embodiment.
- the route determination process of the route determination device 103 will be described along with the flow of FIG.
- the flow of FIG. 9 starts when the vehicle starts automatic driving along the road.
- Steps S301 to S303 are the same as steps S201 to S203 in FIG. 7.
- the defining unit 13 determines whether or not the branch point is a clear branch point (step S303).
- a highway junction can be defined as an unclear junction because it is difficult to determine which of the multiple roads branching from the junction should be the main road.
- the branch point can be defined as an unclear branch point. For example, when branching in two directions on a T-junction, both road types are the same, and the name of each road is different from the name of the road currently running, and it is the same as the road currently running on any road. If the connection angles are also the same, the T-junction can be defined as an unclear junction.
- step S303 if the branch point is an unclear branch point, the route determination unit 16 determines the main road as a travel route (step S308), and proceeds to the process of step S309.
- step S303 if the branch point is a clear branch point, the attention level detection unit 14 determines whether or not the driver's attention level is less than a predetermined first threshold value (step S305). In step S305, if the degree of attention is equal to or higher than the first threshold value, the route determination unit 16 determines the main road as the travel route (step S308).
- step S305 if the degree of attention is less than the first threshold value, the notification unit 17 gives an approach notification (step S306), and the route determination unit 16 determines the parking facility as the destination of the vehicle (step S307).
- Step S306 and step S307 are the same as step S206 and step S207 in FIG.
- Step S309 to S315 are the same as steps S208 to S214 of FIG. 7.
- the branch point is a clear branch point capable of defining a plurality of roads as a main road and a slave road based on the master-slave rule, and a plurality of roads based on the master-slave road rule. It is divided into unclear junctions that cannot be defined for roads and secondary roads. Then, the route determination unit 16 determines the main road as the traveling route of the vehicle if the branch point is a clear branch point when there is no input of the desired road and the degree of attention is less than the first threshold value, and the branch is made. If the point is an unclear turning point, the parking facility in front of the turning point is determined as the destination of the vehicle.
- the route determination device 103 even if there is no input of the desired road for the clear branch point and the attention level is less than the first threshold value, the vehicle is in the direction intended by the user on the main road. It is estimated that the vehicle travel route is determined. Therefore, the frequency of stopping the vehicle in the parking facility can be reduced.
- FIG. 10 is a block diagram showing the configuration of the routing device 104 according to the fourth embodiment.
- the route determination device 104 includes a permission condition storage unit 18 in addition to the configuration of the route determination device 101-103 of the first to third embodiments.
- the permission condition storage unit 18 stores the permission condition.
- the permission condition is a condition that allows the vehicle to continue automatic driving along the road even if the driver's attention level is less than the first threshold value.
- the branch point satisfying the permission condition is referred to as a permission branch point.
- the route determination unit 16 determines whether or not the branch point in front of the vehicle is a permitted branch point. Then, at the permission branch point, the route determination unit 16 determines the main road as the driving road even if the driver's attention level is less than the first threshold value and there is no input of the desired road, and the road to the vehicle. Continue automatic operation. Further, when the driver's attention level is less than the first threshold value and there is no input of the desired road at the branch point other than the permitted branch point, the route determination unit 16 sets the parking facility in front of the branch point. Set as the destination of the vehicle and end the automatic driving along the road of the vehicle. In other respects, the operation of the routing device 104 is similar to that of the routing device 102 of the second embodiment.
- FIG. 11 is a flowchart showing a route determination process by the route determination device 104 of the fourth embodiment.
- the route determination process of the route determination device 104 will be described along with the flow of FIG.
- the flow of FIG. 11 starts when the vehicle starts automatic driving along the road. Steps S401 to S406 are the same as steps S201 to S206 in FIG. 7.
- the notification unit 17 gives an approach notification (step S406).
- the route determination unit 16 determines whether or not the branch point in front of the vehicle is a permitted branch point (step S407). If the branch point is not a permitted branch point in step S407, the route determination unit 16 eliminates the travel route of the main road determined in step S404 and determines the parking facility in front of the branch point as the destination (step S408). .. Then, the process of the route determination device 104 shifts to step S409. If the branch point is not the permitted branch point in step S407, the route determination device 104 shifts to the process of step S409 while keeping the main road as the traveling route.
- Steps S409 to S415 are the same as steps S208 to S214 of FIG.
- FIG. 12 shows the permission area A1 set by the user by a predetermined HMI process.
- the permitted area is a specific area defined as an area where automatic driving control is possible along the road of the vehicle regardless of the degree of attention of the driver. That is, the permission area A1 defines the permission conditions as a geographical area.
- the information of the permission area A1 is stored in the permission condition storage unit 18 as a permission condition.
- interchange IC1, IC2, and IC3 which are branch points in the permitted area A1, are permitted branch points, and interchange IC4, which is a branch point outside the permitted area A1, is not a permitted branch point.
- the routing device 104 executes the flow of FIG. 11 in the situation shown in FIG. 12, the following results are obtained.
- the route determination device 104 does not give a special approach notification.
- the vehicle 40 uses the desired road as a traveling route at each branch point, and when the user does not input the desired road, the vehicle 40 uses the main road as each branch point. Travel as a travel route in.
- the route determination device 104 notifies the user of the first approach to the interchange IC1, IC2, and IC3, which are the permission branch points, in front of the parking facility in front of them.
- the parking facility in front of the interchange IC1 is the parking area PA1
- the parking facility in front of the interchange IC3 is the service area SA1.
- the parking facility in front of the interchange IC2 is the parking area PA1. Then, when the user inputs the desired road, the vehicle 40 uses the desired road as a traveling route at each branch point, and when the user does not input the desired road, the vehicle 40 is in front of each permitted branch point. Stop at the parking facility.
- the route determination device 104 automatically parks the interchange IC4, which is a permitted branch point, in the service area SA2, which is a parking facility in front of the interchange IC4.
- the route determination unit 16 permits.
- the area A1 may be corrected as in the permitted area RA1 shown in FIG.
- the permitted area RA1 is set so as to have the interchange IC3 as a boundary, and it is clarified that the interchange IC3 is inside the permitted area RA1 and the interchange IC3 is outside the permitted area RA1.
- FIG. 12 shows a permission area set by the user.
- the permitted area may be automatically set according to various conditions.
- the route determination unit 16 sets the permission area and stores it in the permission condition storage unit 18.
- the route determination unit 16 may set a road on which the vehicle has traveled even once in the past as a permitted area based on the past travel history of the vehicle.
- the route determination unit 16 may use a road on which the vehicle has traveled more than a certain frequency in the past as a permitted area.
- the route determination unit 16 may set a certain range based on the POI as a permitted area, such as an area within a predetermined distance from a specific POI (Point Of Interest).
- a permitted area is set within a range of 100 km from the parking lot at home or the parking lot used for company commuting.
- the route determination unit 16 may set a range that does not become a detour to the temporary destination as a permitted area. Specifically, the route determination unit 16 calculates the traveling cost from traveling on the main road to reaching the temporary destination as the first traveling cost at a certain branch point, and travels on the secondary road at the same branch point. The running cost to reach the temporary destination is calculated as the second running cost. Here, the traveling cost includes the distance or time to reach the temporary destination. Then, the route determination unit 16 determines only the branch point where the first running cost is equal to or less than the second running cost as the permitted branch point. In this example, if the temporary destination is home, it is possible to drive on an appropriate road and return to home by automatic driving without detouring from outside.
- the route determination unit 16 may determine a branch point within a predetermined distance, such as 150 km from the point where the vehicle follows the road and starts automatic driving, as a permitted branch point. Further, the route determination unit 16 may determine a branch point in which the vehicle travels within a predetermined time, such as within one hour after the vehicle starts automatic driving on the road, as a permitted branch point.
- the vehicle can move to a branch point within a predetermined distance such as 75 km or within a predetermined time such as 30 minutes.
- the traveling branch point may be determined as a permitted branch point.
- the route determination unit 16 determines whether or not the branch point is a permit branch point satisfying a predetermined permission condition, and there is no input of a desired road and caution is taken. If the degree is less than the first threshold and the branch point is the permitted branch point, the main road is determined as the travel route of the vehicle, and if the branch point is not the permitted branch point, the parking facility in front of the branch point is used as the vehicle. Decide on your destination. Therefore, when the driver's attention is low and the driver does not input the desired road, the route determining device 104 continues the automatic driving only at the permitted branch point, and the vehicle is stopped at the other branch points. It can be stopped at a parking facility.
- the processing circuit 81 includes a map storage unit 11, a position detection unit 12, a regulation unit 13, an attention level detection unit 14, an input reception unit 15, a route determination unit 16, and a notification unit 17 (hereinafter, “route determination unit 16 and the like””. ).
- Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied.
- the processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
- the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). GateArray), or a combination of these.
- Each of the functions of each part such as a part may be realized by a plurality of processing circuits 81, or the functions of each part may be collectively realized by one processing circuit.
- the processing circuit 81 When the processing circuit 81 is a processor, the functions of the routing unit 16 and the like are realized by a combination of software and the like (software, firmware or software and firmware). Software and the like are described as programs and stored in memory. As shown in FIG. 15, the processor 82 applied to the processing circuit 81 realizes the functions of each part by reading and executing the program stored in the memory 83. That is, when the route determination device 101-104 is executed by the processing circuit 81, the step defines one of the plurality of roads branching from the branch point in front of the vehicle as the main road based on the master-slave rule.
- the memory 83 for storing the program to be executed as a result. In other words, it can be said that this program causes the computer to execute the procedure or method of the routing unit 16 or the like.
- the memory 83 is non-volatile, such as a RAM (RandomAccessMemory), a ROM (ReadOnlyMemory), a flash memory, an EPROM (ErasableProgrammableReadOnlyMemory), and an EEPROM (Electrically ErasableProgrammableReadOnlyMemory).
- RAM RandomAccessMemory
- ROM ReadOnlyMemory
- flash memory an EPROM (ErasableProgrammableReadOnlyMemory), and an EEPROM (Electrically ErasableProgrammableReadOnlyMemory).
- HDD Hard Disk Drive
- magnetic disk flexible disk
- optical disk compact disk
- mini disk mini disk
- DVD Digital Versatile Disk
- each function of the routing unit 16 and the like is realized by either hardware or software has been described above.
- the present invention is not limited to this, and a configuration may be configured in which a part of the routing unit 16 or the like is realized by dedicated hardware and another part is realized by software or the like.
- the routing unit 16 realizes its function by a processing circuit as dedicated hardware, and other than that, the processing circuit 81 as a processor 82 reads and executes a program stored in the memory 83 to execute the function. It is possible to realize.
- the processing circuit can realize each of the above-mentioned functions by hardware, software, or a combination thereof.
- the map storage unit 11 and the permission condition storage unit 18 are composed of a memory 83, but they may be composed of a single memory 83 or each may be composed of an individual memory.
- the routing device 101-104 is typically an in-vehicle device, but is a PND (Portable Navigation Device), a communication terminal (for example, a mobile terminal such as a mobile phone, a smartphone, and a tablet), and an application installed on the PND (Portable Navigation Device). It can also be applied to a routing system constructed as a system by appropriately combining functions and servers. In this case, each function or each component of the routing apparatus 101-104 described above may be distributed and arranged in each device for constructing the routing system, or may be centrally arranged in any one of the devices. May be done.
- FIG. 16 shows a configuration example of a route determination device 104 using a vehicle and a server.
- the map storage unit 11, the regulation unit 13, the route determination unit 16, and the permission condition storage unit 18 are arranged on the server, and the position detection unit 12, the attention level detection unit 14, the input reception unit 15, and the notification unit 17 are vehicles. Is located in.
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Abstract
The object of the present disclosure is, in road-following autonomous driving control, to reduce the effort for a user to input the direction to take when passing through a junction, and to inhibit the vehicle from travelling through a junction in a direction not intended by the user. A path determination device (101) comprises: a stipulation unit (13) that stipulates one road among a plurality of diverging roads at a junction in front of a vehicle to be a main road and stipulates the other roads to be sub-roads, on the basis of a predetermined main-sub rule; an attentiveness detection unit (14) that detects the attentiveness of a user with respect to travelling of the vehicle; a notification unit (17) that notifies the user of the approach of vehicle to the junction when the attentiveness is less than a predetermined first threshold value; an input receiving unit (15) that receives input of a desired road, which, among the plurality of roads, is the road on which the user desires to travel; and a path determination unit (16) that, if a desired road has been input, sets the desired road to be the travelling path of the vehicle, and if no desired road has been input, sets the main road to be the travelling path of the vehicle.
Description
本開示は、目的地を決めない車両の道なり自動運転制御における経路の決定に関する。
This disclosure relates to the determination of a route in automatic driving control of a vehicle that does not determine a destination.
車両の自動運転制御には、目的地を定めた自動運転制御と、目的地を定めず道なりに車両を走行させる自動運転制御とがある。本明細書では、前者を目的地付き自動運転制御と称し、後者を道なり自動運転制御と称する。特許文献1には、道なり自動運転制御を行う自動運転システムが開示されている。
The automatic driving control of the vehicle includes the automatic driving control that defines the destination and the automatic driving control that drives the vehicle along the road without defining the destination. In this specification, the former is referred to as destination-based automated driving control, and the latter is referred to as road-based automated driving control. Patent Document 1 discloses an automatic driving system that performs automatic driving control along the road.
特許文献1の自動運転システムは、車両が分岐点に近づく度に分岐点の通過方向をユーザに問い合わせ、ユーザからの応答がなければ分岐点の手前の駐車施設に駐車する。
The automatic driving system of Patent Document 1 inquires the user about the passing direction of the branch point every time the vehicle approaches the branch point, and if there is no response from the user, the vehicle is parked in the parking facility in front of the branch point.
特許文献1の自動運転システムによれば、ユーザは車両が分岐点に近づく度に、希望する通過方向を入力しなければならず、入力の手間が煩わしいという問題があった。とはいえ、ユーザの希望を確認せずに道なり自動運転を行うと、車両がユーザの希望とは異なる方向に分岐点を走行してしまうという問題があった。
According to the automatic driving system of Patent Document 1, the user has to input a desired passing direction every time the vehicle approaches a branch point, which causes a problem that it is troublesome to input. However, if the vehicle automatically drives along the road without confirming the user's wishes, there is a problem that the vehicle travels at the branch point in a direction different from the user's wishes.
本開示は、上記の問題点を解決するためになされたものであり、道なり自動運転制御において、ユーザが分岐点での通過方向を入力する手間を軽減すると共に、車両がユーザの意図しない方向に分岐点を走行することを抑制することを目的とする。
This disclosure is made in order to solve the above-mentioned problems, and in the automatic driving control along the road, the time and effort for the user to input the passing direction at the branch point is reduced, and the vehicle is in a direction not intended by the user. The purpose is to prevent the vehicle from traveling at a fork.
本開示の経路決定装置は、走行制御装置に制御されて自動運転を行う車両の、走行経路を決定する経路決定装置であって、予め定められた主従規則に基づき、車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路、他の道路を従道路と規定する規定部と、車両の走行に対するユーザの注意度を検出する注意度検出部と、注意度が予め定められた第1閾値未満である場合に、ユーザに車両の分岐点への接近を通知する通知部と、複数の道路のうちユーザが走行を希望する道路である希望道路の入力を受け付ける入力受付部と、希望道路の入力があれば希望道路を車両の走行経路とし、希望道路の入力がなければ主道路を車両の走行経路とする、経路決定部と、を備える。
The route determination device of the present disclosure is a route determination device for determining a travel route of a vehicle controlled by a travel control device for automatic driving, and is a route determination device for determining a travel route from a branch point in front of the vehicle based on a predetermined master-slave rule. A regulation unit that defines one road as a main road and a secondary road as a secondary road among a plurality of branching roads, a caution level detection unit that detects the user's attention level to the running of a vehicle, and a caution level are predetermined. A notification unit that notifies the user of the approach of the vehicle to the branch point when the value is less than the first threshold, and an input reception unit that accepts input of the desired road, which is the road that the user desires to drive among a plurality of roads. , The route determination unit is provided, in which the desired road is used as the vehicle's travel route if the desired road is input, and the main road is used as the vehicle's travel route if the desired road is not input.
本開示の技術によれば、ユーザが希望道路の入力をしない場合に主道路が車両の走行経路となる。従って、ユーザは分岐点の度に希望道路を入力する必要はなく、従道路を走行したい場合にのみ希望道路を入力すればよいため、入力の手間が軽減される。また、注意度の低いユーザには分岐点への接近が通知されるため、ユーザが気付かないまま意図しない方向に車両が走行することを抑制することができる。本開示の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。
According to the technology of the present disclosure, the main road becomes the travel route of the vehicle when the user does not input the desired road. Therefore, the user does not have to input the desired road at each branch point, and only needs to input the desired road when he / she wants to drive on the subordinate road, which reduces the time and effort of inputting. Further, since the user with a low degree of attention is notified of the approach to the branch point, it is possible to prevent the vehicle from traveling in an unintended direction without the user noticing it. The purposes, features, embodiments, and advantages of the present disclosure will be made clearer by the following detailed description and accompanying drawings.
<A.実施の形態1>
<A-1.構成>
図1は、実施の形態1の経路決定装置101の構成を示すブロック図である。経路決定装置101は、車両の自動運転制御を行う走行制御装置26に、車両の走行経路を入力する。走行制御装置26は、経路決定装置101から入力された走行経路に従って車両の自動運転を行う。本明細書では、各実施の形態の経路決定装置が走行経路を定める対象の車両を、単に車両と称する。 <A. Embodiment 1>
<A-1. Configuration>
FIG. 1 is a block diagram showing a configuration of therouting device 101 according to the first embodiment. The route determination device 101 inputs the travel route of the vehicle to the travel control device 26 that controls the automatic driving of the vehicle. The travel control device 26 automatically drives the vehicle according to the travel route input from the route determination device 101. In the present specification, a vehicle to which the route determining device of each embodiment determines a traveling route is simply referred to as a vehicle.
<A-1.構成>
図1は、実施の形態1の経路決定装置101の構成を示すブロック図である。経路決定装置101は、車両の自動運転制御を行う走行制御装置26に、車両の走行経路を入力する。走行制御装置26は、経路決定装置101から入力された走行経路に従って車両の自動運転を行う。本明細書では、各実施の形態の経路決定装置が走行経路を定める対象の車両を、単に車両と称する。 <A. Embodiment 1>
<A-1. Configuration>
FIG. 1 is a block diagram showing a configuration of the
この他、経路決定装置101は、測位装置21、ドライバモニタリング装置22、入力装置23、表示装置24およびスピーカー25と接続され、これらを利用可能に構成されている。測位装置21、ドライバモニタリング装置22、入力装置23、表示装置24およびスピーカー25は、いずれも車両に搭載されている。
In addition, the route determination device 101 is connected to the positioning device 21, the driver monitoring device 22, the input device 23, the display device 24, and the speaker 25, and is configured to be usable. The positioning device 21, the driver monitoring device 22, the input device 23, the display device 24, and the speaker 25 are all mounted on the vehicle.
測位装置21は、車両の位置を測定する装置である。測位装置21は、例えばGNSS(Global Navigation Satellite System)信号の受信機である。測位装置21は、測定した車両の位置を位置検出部12に出力する。
The positioning device 21 is a device that measures the position of the vehicle. The positioning device 21 is, for example, a receiver for a GNSS (Global Navigation Satellite System) signal. The positioning device 21 outputs the measured position of the vehicle to the position detection unit 12.
ドライバモニタリング装置22は、ユーザの状態を検出して経路決定装置101に出力する。ユーザとは、車両の搭乗者であり、例えば運転者である。以下の説明では運転者をユーザの例として説明を行う。ドライバモニタリング装置22は、車両に搭載されたカメラによる運転者の撮影画像を解析することによって、運転者の視線方向または覚醒度を検出することが可能である。また、ドライバモニタリング装置22は、運転者の心拍数または体温などの生体情報を非侵襲に測定する生体センサを備えて構成され、運転者の生体情報から運転者の覚醒度を取得することが可能である。
The driver monitoring device 22 detects the user's state and outputs it to the route determination device 101. The user is a passenger of the vehicle, for example, a driver. In the following description, the driver will be used as an example of the user. The driver monitoring device 22 can detect the driver's line-of-sight direction or alertness by analyzing the image taken by the driver by the camera mounted on the vehicle. Further, the driver monitoring device 22 is configured to include a biosensor that non-invasively measures biometric information such as the driver's heart rate or body temperature, and can acquire the driver's arousal level from the driver's biometric information. Is.
入力装置23は、運転者が経路決定装置101に希望する分岐点後の走行道路(以下、「希望道路」と称する)を入力するための装置である。入力装置23は、例えば機械的なボタンまたはスイッチ、もしくはタッチパネルなどにより実現する。また、入力装置23は、音声認識装置により構成され、運転者の発話音声から希望道路を取得してもよい。また、入力装置23は、ウィンカーレバーなど、車両の手動運転操作に用いられる既存の設備が用いられてもよい。また、入力装置23は、運転者のジェスチャーまたは視線から希望道路を取得してもよい。
The input device 23 is a device for inputting the driving road (hereinafter referred to as "desired road") after the branch point desired by the driver to the route determination device 101. The input device 23 is realized by, for example, a mechanical button or switch, a touch panel, or the like. Further, the input device 23 may be configured by a voice recognition device and may acquire a desired road from the voice spoken by the driver. Further, as the input device 23, existing equipment used for manual driving operation of the vehicle, such as a winker lever, may be used. Further, the input device 23 may acquire the desired road from the gesture of the driver or the line of sight.
表示装置24とスピーカー25は、経路決定装置101が運転者に報知を行うための装置である。表示装置24は、例えば車両のセンターディスプレイ(Center Information Display)またはHUD(Head-Up Display)である。経路決定装置101は、表示または音声の少なくともいずれかによって運転者に報知を行う。
The display device 24 and the speaker 25 are devices for the route determination device 101 to notify the driver. The display device 24 is, for example, a center display (Center Information Display) or a HUD (Head-Up Display) of the vehicle. The route determination device 101 notifies the driver by at least either display or voice.
次に、経路決定装置101の構成について説明する。経路決定装置101は、地図記憶部11、位置検出部12、規定部13、注意度検出部14、入力受付部15、および経路決定部16を備えている。
Next, the configuration of the route determination device 101 will be described. The route determination device 101 includes a map storage unit 11, a position detection unit 12, a regulation unit 13, an attention level detection unit 14, an input reception unit 15, and a route determination unit 16.
地図記憶部11は、地図データを記憶している。
The map storage unit 11 stores map data.
位置検出部12は、測位装置21から車両の位置を取得する。位置検出部12は、地図記憶部11に記憶された地図データを用いてマップマッチングを行うことにより、測位装置21から取得した車両の位置を補正してもよい。
The position detection unit 12 acquires the position of the vehicle from the positioning device 21. The position detection unit 12 may correct the position of the vehicle acquired from the positioning device 21 by performing map matching using the map data stored in the map storage unit 11.
規定部13は、位置検出部12から取得した車両の位置と、地図記憶部11から取得した地図データを用いて、車両が今後通過する分岐点を把握する。分岐点とは、当該地点から車両の進行方向の後ろ側に複数の道路が分岐した地点である。一般道路では、Y字路、T字路、または交差点などが分岐点の例である。高速道路ではインターチェンジまたはジャンクションが分岐点の例である。
The regulation unit 13 grasps the branch point through which the vehicle will pass in the future by using the position of the vehicle acquired from the position detection unit 12 and the map data acquired from the map storage unit 11. A branch point is a point where a plurality of roads branch off from the point behind in the direction of travel of the vehicle. On general roads, Y-shaped roads, T-shaped roads, intersections, and the like are examples of branch points. Interchanges or junctions are examples of junctions on highways.
規定部13は、予め定められた主従規則を用いて、分岐点から分岐する複数の道路の中から一つの道路を主道路と決定し、他の道路を従道路と決定する。主道路は1つであるが、従道路は複数の場合もある。主従規則は、例えば地図記憶部11に記憶された地図データに含まれている。以下、主従規則は地図データに含まれているものとする。
The regulation unit 13 determines one road as the main road and the other road as the secondary road from among the plurality of roads branching from the branch point, using the predetermined master-slave rule. There is one main road, but there may be multiple secondary roads. The master-slave rule is included in the map data stored in the map storage unit 11, for example. Hereinafter, the master-slave rule shall be included in the map data.
注意度検出部14は、ドライバモニタリング装置22から運転者の状態を取得し、これに基づき運転者の注意度を検出する。注意度とは、運転者が車両の走行に対してどれだけ注意を払っているかを表す指標である。注意度は、例えば運転者の覚醒度である。つまり、運転者が眠っている場合には、起きている場合よりも注意度が低く検出される。また、注意度は、運転者の視線方向からも検出可能である。例えば、運転者が車両の進行方向とは無関係な場所、例えば携帯端末を見ている場合には、車両の進行方向を見ている場合に比べて、注意度が低く検出される。
The caution level detection unit 14 acquires the driver's state from the driver monitoring device 22, and detects the driver's caution level based on this. The degree of attention is an index showing how much attention the driver pays to the running of the vehicle. The alertness is, for example, the driver's alertness. That is, when the driver is sleeping, he / she is detected with a lower degree of attention than when he / she is awake. The degree of caution can also be detected from the direction of the driver's line of sight. For example, when the driver is looking at a place irrelevant to the traveling direction of the vehicle, for example, when the driver is looking at the mobile terminal, the degree of caution is detected to be lower than when the driver is looking at the traveling direction of the vehicle.
入力受付部15は、入力装置23から運転者の希望道路の入力を受け付ける。
The input receiving unit 15 receives the input of the driver's desired road from the input device 23.
経路決定部16は、規定部13から主道路および従道路の情報を取得し、注意度検出部14から運転者の注意度を取得し、入力受付部15から希望道路の情報を取得し、これらに基づき、分岐点から分岐する複数の道路の1つを車両の走行経路に決定する。経路決定部16は決定した走行経路を走行制御装置26に出力する。走行制御装置26は、経路決定部16が決定した走行経路に従って車両の自動運転制御を行う。これにより、車両は分岐点を経路決定部16が決定した走行経路の方向に走行する。
The route determination unit 16 acquires information on the main road and the secondary road from the regulation unit 13, acquires the driver's attention level from the attention level detection unit 14, and acquires information on the desired road from the input reception unit 15, and these Based on the above, one of the plurality of roads branching from the branch point is determined as the traveling route of the vehicle. The route determination unit 16 outputs the determined travel route to the travel control device 26. The travel control device 26 performs automatic driving control of the vehicle according to the travel route determined by the route determination unit 16. As a result, the vehicle travels at the branch point in the direction of the travel route determined by the route determination unit 16.
通知部17は、表示装置24およびスピーカー25の少なくともいずれかを用いて、運転者に対する様々な通知を行う。通知に表示装置24が用いられる場合、通知部17は表示装置24における表示を制御する表示制御部として機能する。また、通知にスピーカー25が用いられる場合、通知部17はスピーカー25の音声出力を制御する音声出力制御部として機能する。
The notification unit 17 uses at least one of the display device 24 and the speaker 25 to give various notifications to the driver. When the display device 24 is used for notification, the notification unit 17 functions as a display control unit that controls the display on the display device 24. When the speaker 25 is used for notification, the notification unit 17 functions as an audio output control unit that controls the audio output of the speaker 25.
<A-2.動作>
車両は、手動運転、目的地付き自動運転、道なり自動運転という3つの運転モードを有している。手動運転では、走行制御装置26は車両に特段の走行制御を行わない。目的地付き自動運転では、走行制御装置26は、車両の現在地から目的地までの定められた経路に沿って車両を走行させる。道なり自動運転では、走行制御装置26は車両の目的地を定めることなく、経路決定装置101が決定した方向に分岐点を通過するよう車両を制御する。 <A-2. Operation>
The vehicle has three driving modes: manual driving, automatic driving with a destination, and automatic driving along the road. In manual operation, thetravel control device 26 does not perform any particular travel control on the vehicle. In automatic driving with a destination, the travel control device 26 drives the vehicle along a predetermined route from the current location of the vehicle to the destination. In automatic road driving, the travel control device 26 controls the vehicle so as to pass through the branch point in the direction determined by the route determination device 101 without determining the destination of the vehicle.
車両は、手動運転、目的地付き自動運転、道なり自動運転という3つの運転モードを有している。手動運転では、走行制御装置26は車両に特段の走行制御を行わない。目的地付き自動運転では、走行制御装置26は、車両の現在地から目的地までの定められた経路に沿って車両を走行させる。道なり自動運転では、走行制御装置26は車両の目的地を定めることなく、経路決定装置101が決定した方向に分岐点を通過するよう車両を制御する。 <A-2. Operation>
The vehicle has three driving modes: manual driving, automatic driving with a destination, and automatic driving along the road. In manual operation, the
図2は、経路決定装置101による経路決定処理を示すフローチャートである。図2のフローは、車両が道なり自動運転を開始することにより開始する。まず、位置検出部12が車両の位置を検出する(ステップS101)。
FIG. 2 is a flowchart showing a route determination process by the route determination device 101. The flow of FIG. 2 starts when the vehicle follows the road and starts automatic driving. First, the position detection unit 12 detects the position of the vehicle (step S101).
次に、注意度検出部14が運転者の注意度を検出する(ステップS102)。
Next, the attention level detection unit 14 detects the driver's attention level (step S102).
次に、規定部13は、位置検出部12から車両の位置を取得し、地図記憶部11から車両が走行する道路の周辺の地図データを取得し、これらを用いて車両が前方の分岐点まで8km以内に接近しているか否かを判断する(ステップS103)。ここで、8kmは距離の一例である。また、規定部13は、距離を分岐点への接近の目安として判断しているが、分岐点への所要時間を接近の目安として判断しても良い。この場合、車両の走行速度と分岐点までの距離を基に、規定部13は分岐点への所要時間を予測する。
Next, the regulation unit 13 acquires the position of the vehicle from the position detection unit 12, acquires the map data around the road on which the vehicle travels from the map storage unit 11, and uses these to reach the branch point ahead of the vehicle. It is determined whether or not the vehicle is approaching within 8 km (step S103). Here, 8 km is an example of a distance. Further, although the regulation unit 13 determines the distance as a guideline for approaching the branch point, the time required for approaching the branch point may be determined as a guideline for approaching. In this case, the regulation unit 13 predicts the time required to reach the branch point based on the traveling speed of the vehicle and the distance to the branch point.
ステップS103において車両が分岐点まで8km以内でなければ、経路決定装置101の処理はステップS101に戻る。ステップS103において車両が分岐点まで8km以内に接近していれば、規定部13は地図データに含まれる主従規則を基に、前方の分岐点から分岐する複数の道路の中から一つの道路を主道路と決定し、他の道路を従道路と決定する。そして、規定部13は主道路を車両の走行経路に決定する(ステップS104)。
If the vehicle is not within 8 km to the branch point in step S103, the process of the route determination device 101 returns to step S101. If the vehicle is approaching the branch point within 8 km in step S103, the regulation unit 13 mainly uses one of the plurality of roads branching from the front branch point based on the master-slave rule included in the map data. Decide that it is a road, and decide that another road is a secondary road. Then, the regulation unit 13 determines the main road as the traveling route of the vehicle (step S104).
主従規則によれば、例えば主道路と従道路は以下のように定められる。1)高速道路において、分岐点がインターチェンジである場合、主道路は、継続して走行する高速道路であり、従道路はインターチェンジから一般道路に降りる道路である。2)一般道路において、主道路は、現在走行している道路と同一名称の道路であり、従道路は、現在走行している道路と異なる名称の道路である。3)一般道路において、分岐点から分岐するいずれの道路も、現在走行している道路と異なる名称の道路である場合、主道路は、現在走行している道路と道路種別が同一の道路であり、従道路はそれ以外の道路である。4)一般道路において、分岐点から分岐するいずれの道路も、現在走行している道路と異なる名称かつ異なる道路種別の道路である場合、主道路は、現在走行している道路との接続角度が最も小さい道路であり、従道路はそれ以外の道路である。
According to the master-slave rules, for example, the main road and the sub-road are defined as follows. 1) On a highway, when the junction is an interchange, the main road is a continuous highway, and the secondary road is a road that descends from the interchange to a general road. 2) In general roads, the main road has the same name as the road currently running, and the secondary road has a different name from the road currently running. 3) If any of the roads that branch off from the junction is a road with a different name from the road that is currently running, the main road is the same road type as the road that is currently running. , Sub-roads are other roads. 4) In general roads, if any road branching from a branch point has a different name and a different road type from the road currently running, the main road has a connection angle with the road currently running. It is the smallest road, and the secondary road is the other road.
次に、注意度検出部14が、運転者の注意度が予め定められた第1閾値未満であるか否かを判断する(ステップS105)。ステップS105において運転者の注意度が第1閾値未満であれば、通知部17が車両の分岐点へ接近している旨の通知(以下、「接近通知」と称する)を行う(ステップS106)。
Next, the attention level detection unit 14 determines whether or not the driver's attention level is less than a predetermined first threshold value (step S105). If the driver's attention level is less than the first threshold value in step S105, the notification unit 17 notifies that the vehicle is approaching the branch point (hereinafter referred to as "approach notification") (step S106).
図3は、ステップS106における接近通知の例を示している。図3では、表示と音声による接近通知の例が示され、HUD51が表示装置24として用いられている。HUD51は運転者の前方視野に重なる表示領域を有しており、運転者はHUD51の表示領域に重ねて前方の車両52を視認する。HUD51には、前方の分岐点を表す表示オブジェクトである分岐点オブジェクト53が表示される。ここで、前方の分岐点では直進道路と左方に逸れる道路とに分岐しているものとする。そして、直進道路が主道路であり、左方に逸れる道路が従道路であるとする。分岐点オブジェクト53では、直進道路を表す線分54が実線、左方に逸れる道路を表す線分55が点線で表されるため、運転者は分岐点を直進する道路が現状の走行経路として定められていることを認識することができる。また、HUD51には、分岐点までの距離を表す表示オブジェクトとして、「分岐点8km」というテキスト56が表示される。テキスト56により、運転者は分岐点までの距離を認識することができる。
FIG. 3 shows an example of the approach notification in step S106. FIG. 3 shows an example of display and voice approach notification, and the HUD 51 is used as the display device 24. The HUD 51 has a display area that overlaps the front view of the driver, and the driver visually recognizes the vehicle 52 in front of the HUD 51 so as to overlap the display area of the HUD 51. The branch point object 53, which is a display object representing the branch point ahead, is displayed on the HUD 51. Here, it is assumed that the front junction is branched into a straight road and a road deviating to the left. Then, it is assumed that the straight road is the main road and the road deviating to the left is the secondary road. In the branch point object 53, the line segment 54 representing a straight road is represented by a solid line, and the line segment 55 representing a road deviating to the left is represented by a dotted line. You can recognize that it is done. Further, on the HUD 51, the text 56 "branch point 8 km" is displayed as a display object representing the distance to the branch point. The text 56 allows the driver to recognize the distance to the fork.
また、HUD51の表示と同時に、スピーカー25からは「分岐点まで8kmです。道路選択しますか?」等の音声が出力される。このように、スピーカー25からは、運転者に希望道路の選択を促す音声が出力される。希望道路の選択を促す通知は表示により行われてもよい。
At the same time as the display of HUD51, the speaker 25 outputs a voice such as "8 km to the branch point. Do you want to select a road?" In this way, the speaker 25 outputs a voice prompting the driver to select a desired road. Notifications prompting the selection of the desired road may be given by display.
図3に示す接近通知は、注意度が第1閾値未満の場合、すなわち運転者の注意度が低い場合に行われる。これにより、運転者は前方に分岐点があることを認識し、必要に応じて希望道路を入力することができる。一方、ステップS105で注意度が第1閾値以上の場合、通知部17は接近通知を行わない。なぜなら、注意度の高い運転者は前方に分岐点があることを既に認識しているからである。このように、経路決定装置101は、運転者の注意度が低い場合に限って接近通知を行うことにより、運転者に煩わしさを与えないようにする。
The approach notification shown in FIG. 3 is performed when the attention level is less than the first threshold value, that is, when the driver's attention level is low. As a result, the driver can recognize that there is a branch point ahead and input the desired road as needed. On the other hand, when the attention level is equal to or higher than the first threshold value in step S105, the notification unit 17 does not give an approach notification. This is because a high-attention driver is already aware that there is a fork in front of him. In this way, the route determination device 101 does not cause trouble to the driver by giving an approach notification only when the driver's attention is low.
ステップS106の後、またはステップS105で運転者の注意度が第1閾値以上である場合に、入力受付部15は希望道路の入力があるか否かを判断する(ステップS107)。入力受付部15は、入力装置23から希望道路の入力を受け付けた場合に、希望道路の入力があると判断する。既にステップS104において主道路が走行経路に決定されているため、運転者は、主道路の走行を希望する場合には、希望を入力する必要はない。運転者は、分岐点において従道路の走行を希望する場合にのみ、特定の従道路を希望道路として入力すれば良いため、分岐点ごとに希望道路を入力する必要はない。
After step S106, or when the driver's attention level is equal to or higher than the first threshold value in step S105, the input receiving unit 15 determines whether or not there is an input for the desired road (step S107). When the input receiving unit 15 receives the input of the desired road from the input device 23, the input receiving unit 15 determines that the desired road is input. Since the main road has already been determined as the travel route in step S104, the driver does not need to input the desire when he / she wishes to travel on the main road. Since the driver only needs to input a specific secondary road as a desired road only when he / she wants to drive on the secondary road at the branch point, it is not necessary to input the desired road at each branch point.
ステップS107において希望道路の入力があれば、経路決定部16は入力受付部15から希望道路の情報を取得し、希望道路を車両の走行経路に決定する(ステップS108)。特定の従道路が希望道路として入力された場合、経路決定部16は走行経路をステップS103で決定した主道路から従道路に変更する。そして、経路決定装置101はステップS109の処理へ移行する。
If there is an input of the desired road in step S107, the route determination unit 16 acquires the information of the desired road from the input reception unit 15 and determines the desired road as the traveling route of the vehicle (step S108). When a specific secondary road is input as a desired road, the route determination unit 16 changes the traveling route from the main road determined in step S103 to the secondary road. Then, the route determination device 101 shifts to the process of step S109.
ステップS107において希望道路の入力がなければ、走行経路は主道路のまま、経路決定装置101はステップS109の処理へ移行する。
If there is no input of the desired road in step S107, the route determination device 101 shifts to the process of step S109 while the traveling route remains the main road.
ステップS109において、位置検出部12は再び車両の位置を検出する(ステップS109)。そして、位置検出部12は、車両が分岐点を通過したか否かを判断する(ステップS110)。ステップS110において車両が分岐点を通過していなければ、経路決定装置101の処理はステップS107に戻る。従って、車両が分岐点を通過するまで、運転者は分岐点後の希望道路を入力することができる。ステップS110において車両が分岐点を通過していれば、経路決定装置101の処理はステップS101に戻る。
In step S109, the position detection unit 12 detects the position of the vehicle again (step S109). Then, the position detection unit 12 determines whether or not the vehicle has passed the branch point (step S110). If the vehicle has not passed the branch point in step S110, the process of the route determination device 101 returns to step S107. Therefore, the driver can input the desired road after the fork until the vehicle passes the fork. If the vehicle has passed the branch point in step S110, the process of the route determination device 101 returns to step S101.
<A-3.第1変形例>
図2のフローチャートでは、通知部17は、運転者の注意度が第1閾値未満の場合にのみ、図3に示すような接近通知(以下、「第1接近通知」と称する)を行った。しかし、通知部17は、運転者の注意度が第1閾値以上(ステップS105でNo)の場合にも接近通知(以下、「第2接近通知」と称する)を行っても良い。しかし、第2接近通知は、第1接近通知に比べて、知覚度の低い態様とする。 <A-3. First modification>
In the flowchart of FIG. 2, thenotification unit 17 gives an approach notification (hereinafter referred to as “first approach notification”) as shown in FIG. 3 only when the driver's attention level is less than the first threshold value. However, the notification unit 17 may also perform an approach notification (hereinafter referred to as "second approach notification") even when the driver's attention level is equal to or higher than the first threshold value (No in step S105). However, the second approach notification has a lower perception than the first approach notification.
図2のフローチャートでは、通知部17は、運転者の注意度が第1閾値未満の場合にのみ、図3に示すような接近通知(以下、「第1接近通知」と称する)を行った。しかし、通知部17は、運転者の注意度が第1閾値以上(ステップS105でNo)の場合にも接近通知(以下、「第2接近通知」と称する)を行っても良い。しかし、第2接近通知は、第1接近通知に比べて、知覚度の低い態様とする。 <A-3. First modification>
In the flowchart of FIG. 2, the
図4は、第2接近通知の例を示している。図4において、HUD51に分岐点オブジェクト53が表示されるが、分岐点までの距離を示すテキスト56は表示されない。このように、第2接近通知では、表示オブジェクトの数が少なくなることにより、第1接近通知より知覚度の低い態様となる。また、第2接近通知は、表示によってのみ行われることで、第1接近通知に比べて、知覚度の低い態様となる。
FIG. 4 shows an example of the second approach notification. In FIG. 4, the branch point object 53 is displayed on the HUD 51, but the text 56 indicating the distance to the branch point is not displayed. As described above, the second approach notification has a lower perception than the first approach notification because the number of display objects is reduced. Further, since the second approach notification is performed only by the display, the perception is lower than that of the first approach notification.
なお、第1接近通知と第2接近通知は、異なる態様で知覚度に差があればよく、図3および図4に示す態様に限らない。例えば、第1接近通知において、表示オブジェクトは一定時間点滅するなどのアニメーション効果を伴って表示されてもよい。また、分岐点オブジェクト53は、第1接近通知では第2接近通知より目立つ色で表示されてもよい。また、第2接近通知で表示される表示オブジェクトは、表示開始から一定時間の経過後に小さくなってもよいし、非表示となってもよい。また、表示オブジェクトは表示と非表示とを繰り返してもよい。この場合、表示の繰り返し回数は第1接近通知において第2接近通知におけるよりも多く設定される。
It should be noted that the first approach notification and the second approach notification may be different as long as there is a difference in the degree of perception in different modes, and are not limited to the modes shown in FIGS. 3 and 4. For example, in the first approach notification, the display object may be displayed with an animation effect such as blinking for a certain period of time. Further, the branch point object 53 may be displayed in a color that is more prominent in the first approach notification than in the second approach notification. Further, the display object displayed by the second approach notification may be reduced in size after a certain period of time has elapsed from the start of display, or may be hidden. Further, the display object may be repeatedly displayed and hidden. In this case, the number of repetitions of the display is set in the first approach notification more than in the second approach notification.
<A-4.第2変形例>
経路決定装置101は、走行経路を主道路から希望道路に変更した後、その旨をユーザに通知(以下、「経路変更通知」と称する)してもよい。 <A-4. Second modification>
After changing the traveling route from the main road to the desired road, theroute determining device 101 may notify the user to that effect (hereinafter, referred to as "route change notification").
経路決定装置101は、走行経路を主道路から希望道路に変更した後、その旨をユーザに通知(以下、「経路変更通知」と称する)してもよい。 <A-4. Second modification>
After changing the traveling route from the main road to the desired road, the
図5は、図3に示した第1接近通知の後の経路変更通知(以下、「第1経路変更通知」と称する)の例である。つまり、HUD51の表示が図3に示す表示から図5に示す表示に遷移する。図5の時点で、車両は分岐点まで5kmの位置を走行している。分岐点オブジェクト53では、直進道路を表す線分54が点線、左方に逸れる道路を表す線分55が実線で表されるため、運転者は分岐点を左方に逸れる道路が走行経路として定められていることを認識することができる。また、図5におけるHUD51の表示と同時に、スピーカー25からは「分岐点を左に曲がります」等の音声が出力される。このように、運転者はHUD51の表示とスピーカー25の音声の両方で、分岐点を左に曲がる走行経路が設定されたことを認識することができる。
FIG. 5 is an example of a route change notification (hereinafter referred to as “first route change notification”) after the first approach notification shown in FIG. That is, the display of the HUD 51 shifts from the display shown in FIG. 3 to the display shown in FIG. At the time of FIG. 5, the vehicle is traveling at a position of 5 km to the branch point. In the branch point object 53, the line segment 54 representing a straight road is represented by a dotted line, and the line segment 55 representing a road deviating to the left is represented by a solid line. You can recognize that it is done. Further, at the same time as the display of the HUD 51 in FIG. 5, a voice such as "Turn left at the branch point" is output from the speaker 25. In this way, the driver can recognize from both the display of the HUD 51 and the voice of the speaker 25 that the traveling route for turning left at the branch point has been set.
図6は、図4に示した第2接近通知の後の経路変更通知(以下、「第2経路変更通知」と称する)の例である。つまり、HUD51の表示が図4に示す表示から図6に示す表示に遷移する。図6の例では、HUD51にテキスト56が表示されていない。また、第2経路変更通知は、第2接近通知と同様、表示によってのみ行われてもよい。第1接近通知と第2接近通知との間に知覚度の差があるのと同様、第1経路変更通知と第2経路変更通知との間にも知覚度の差がある。
FIG. 6 is an example of a route change notification (hereinafter referred to as “second route change notification”) after the second approach notification shown in FIG. That is, the display of the HUD 51 shifts from the display shown in FIG. 4 to the display shown in FIG. In the example of FIG. 6, the text 56 is not displayed on the HUD 51. Further, the second route change notification may be performed only by display, as in the case of the second approach notification. Just as there is a difference in perception between the first approach notification and the second approach notification, there is also a difference in perception between the first route change notification and the second route change notification.
<A-5.効果>
実施の形態1の経路決定装置101は、走行制御装置26に制御されて自動運転を行う車両の走行経路を決定する。経路決定装置101は、予め定められた主従規則に基づき、車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路、他の道路を従道路と規定する規定部13と、車両の走行に対するユーザの注意度を検出する注意度検出部14と、注意度が予め定められた第1閾値未満である場合に、ユーザに車両の分岐点への接近を通知する通知部17と、複数の道路のうちユーザが走行を希望する道路である希望道路の入力を受け付ける入力受付部15と、希望道路の入力があれば希望道路を車両の走行経路とし、希望道路の入力がなければ主道路を車両の走行経路とする、経路決定部16と、を備える。走行制御装置26は、経路決定部16が決定した走行経路に沿って車両を走行させる道なり自動運転制御を行う。以上の構成により、ユーザは主道路以外の道路の走行を希望する場合にのみ希望道路を入力することで、自身の希望に沿った経路を車両が走行する。また、ユーザの注意度が低い場合に限って分岐点への接近が通知されるため、希望道路の入力を忘れて、車両が意図しない道路を走行することが抑制される。 <A-5. Effect>
Theroute determination device 101 of the first embodiment determines the travel route of the vehicle to be automatically driven under the control of the travel control device 26. The route determination device 101 includes a ruler 13 that defines one of a plurality of roads branching from a branch point in front of the vehicle as a main road and the other road as a secondary road based on a predetermined master-slave rule. A caution level detection unit 14 that detects the user's attention level to the running of the vehicle, and a notification unit 17 that notifies the user of approaching the branch point of the vehicle when the caution level is less than a predetermined first threshold value. , The input reception unit 15 that accepts the input of the desired road, which is the road that the user wants to drive among a plurality of roads, and if there is an input of the desired road, the desired road is set as the vehicle's travel route, and if there is no input of the desired road. The route determination unit 16 is provided with the main road as the travel route of the vehicle. The travel control device 26 performs automatic driving control along the road that causes the vehicle to travel along the travel route determined by the route determination unit 16. With the above configuration, the user inputs the desired road only when he / she wishes to travel on a road other than the main road, so that the vehicle travels on a route according to his / her desire. Further, since the approach to the branch point is notified only when the user's attention is low, it is possible to prevent the vehicle from traveling on an unintended road by forgetting to input the desired road.
実施の形態1の経路決定装置101は、走行制御装置26に制御されて自動運転を行う車両の走行経路を決定する。経路決定装置101は、予め定められた主従規則に基づき、車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路、他の道路を従道路と規定する規定部13と、車両の走行に対するユーザの注意度を検出する注意度検出部14と、注意度が予め定められた第1閾値未満である場合に、ユーザに車両の分岐点への接近を通知する通知部17と、複数の道路のうちユーザが走行を希望する道路である希望道路の入力を受け付ける入力受付部15と、希望道路の入力があれば希望道路を車両の走行経路とし、希望道路の入力がなければ主道路を車両の走行経路とする、経路決定部16と、を備える。走行制御装置26は、経路決定部16が決定した走行経路に沿って車両を走行させる道なり自動運転制御を行う。以上の構成により、ユーザは主道路以外の道路の走行を希望する場合にのみ希望道路を入力することで、自身の希望に沿った経路を車両が走行する。また、ユーザの注意度が低い場合に限って分岐点への接近が通知されるため、希望道路の入力を忘れて、車両が意図しない道路を走行することが抑制される。 <A-5. Effect>
The
通知部17は、注意度が第1閾値以上である場合に、注意度が第1閾値未満である場合よりも、ユーザの知覚度が低い態様で車両の分岐点への接近を通知してもよい。この構成によれば、ユーザの注意度が高い場合に、ユーザに煩わしさを与えない程度に分岐点への接近をユーザに通知することができる。
When the attention level is equal to or higher than the first threshold value, the notification unit 17 may notify the approach of the vehicle to the branch point in a manner in which the user's perception level is lower than when the attention level is less than the first threshold value. good. According to this configuration, when the user's attention is high, it is possible to notify the user of the approach to the branch point to the extent that the user is not bothered.
<B.実施の形態2>
<B-1.構成>
実施の形態2の経路決定装置102の構成は、図1に示した通りであり、実施の形態1の経路決定装置101の構成と同様である。 <B. Embodiment 2>
<B-1. Configuration>
The configuration of the routing device 102 of the second embodiment is as shown in FIG. 1, and is the same as the configuration of therouting device 101 of the first embodiment.
<B-1.構成>
実施の形態2の経路決定装置102の構成は、図1に示した通りであり、実施の形態1の経路決定装置101の構成と同様である。 <B. Embodiment 2>
<B-1. Configuration>
The configuration of the routing device 102 of the second embodiment is as shown in FIG. 1, and is the same as the configuration of the
<B-2.動作>
経路決定装置102は、運転者の注意度が低く、かつ希望道路の入力がない場合には、分岐点の手前にある駐車施設を目的地に設定する。つまり、経路決定装置102は、運転者の注意度が低い場合には、道なり自動運転制御を中止し、走行制御装置26に車両を駐車施設へ停止させる。これにより、運転者の意図しない方向に分岐点を通過することを防ぐ。 <B-2. Operation>
When the driver's attention is low and there is no input of the desired road, the route determining device 102 sets the parking facility in front of the branch point as the destination. That is, when the driver's attention is low, the route determining device 102 stops the automatic driving control along the road, and causes the travelingcontrol device 26 to stop the vehicle at the parking facility. This prevents the driver from passing through the junction in an unintended direction.
経路決定装置102は、運転者の注意度が低く、かつ希望道路の入力がない場合には、分岐点の手前にある駐車施設を目的地に設定する。つまり、経路決定装置102は、運転者の注意度が低い場合には、道なり自動運転制御を中止し、走行制御装置26に車両を駐車施設へ停止させる。これにより、運転者の意図しない方向に分岐点を通過することを防ぐ。 <B-2. Operation>
When the driver's attention is low and there is no input of the desired road, the route determining device 102 sets the parking facility in front of the branch point as the destination. That is, when the driver's attention is low, the route determining device 102 stops the automatic driving control along the road, and causes the traveling
図7は、実施の形態2の経路決定装置102の経路決定処理を示すフローチャートである。以下、図7のフローチャートに沿って、経路決定装置102の動作を説明する。図7のフローは、車両が道なり自動運転を開始することにより開始する。
FIG. 7 is a flowchart showing a route determination process of the route determination device 102 of the second embodiment. Hereinafter, the operation of the route determining device 102 will be described with reference to the flowchart of FIG. 7. The flow of FIG. 7 starts when the vehicle follows the road and starts automatic driving.
ステップS201およびステップS202は、図2のステップS101およびステップS102と同様である。ステップS202の後、規定部13が、位置検出部12から車両の位置を取得し、地図記憶部11から車両が走行する道路の周辺の地図データを取得し、これらを用いて車両の前方の分岐点を検出する。そして、規定部13は、検出した分岐点の手前にある駐車施設を検出する。さらに、規定部13は、車両が検出した駐車施設から8km以内に接近しているか否かを判断する(ステップS203)。ここで、8kmは距離の一例である。また、規定部13は、距離を駐車施設への接近の目安として判断しているが、駐車施設への所要時間を接近の目安として判断しても良い。この場合、車両の走行速度と駐車施設までの距離を基に、規定部13は駐車施設への所要時間を予測する。駐車施設は車両が駐車可能な施設であればよく、例えば高速道路であればパーキングエリアまたはサービスエリアが駐車施設に該当する。
Step S201 and step S202 are the same as step S101 and step S102 in FIG. After step S202, the regulation unit 13 acquires the position of the vehicle from the position detection unit 12, acquires the map data around the road on which the vehicle travels from the map storage unit 11, and uses these to branch in front of the vehicle. Detect points. Then, the regulation unit 13 detects the parking facility in front of the detected branch point. Further, the regulation unit 13 determines whether or not the vehicle is approaching the parking facility detected within 8 km (step S203). Here, 8 km is an example of a distance. Further, although the regulation unit 13 determines the distance as a guideline for approaching the parking facility, the regulation unit 13 may determine the time required for approaching the parking facility as a guideline for approaching. In this case, the regulation unit 13 predicts the time required for the parking facility based on the traveling speed of the vehicle and the distance to the parking facility. The parking facility may be a facility where vehicles can be parked. For example, in the case of a highway, a parking area or a service area corresponds to a parking facility.
ステップS203において車両が駐車施設から8km以内でなければ、経路決定装置102の処理はステップS101に戻る。ステップS203において車両が駐車施設から8km以内に接近していれば、経路決定装置102はステップS204以降の処理を行う。ステップS204からステップS206の処理は、図2のステップS104からステップS106と同様である。
If the vehicle is not within 8 km from the parking facility in step S203, the process of the route determination device 102 returns to step S101. If the vehicle is approaching within 8 km from the parking facility in step S203, the route determination device 102 performs the processing after step S204. The processing from step S204 to step S206 is the same as that from step S104 to step S106 in FIG.
ステップS205において運転者の注意度が第1閾値未満であれば、通知部17が車両の分岐点へ接近している旨の接近通知を行う(ステップS206)。そして、経路決定部16は、駐車施設を目的地に設定する(ステップS207)。走行制御装置26は、経路決定部16から目的地の情報を取得し、駐車施設に駐車するように車両の走行を制御する。
If the driver's attention level is less than the first threshold value in step S205, the notification unit 17 gives an approach notification to the effect that the vehicle is approaching the branch point (step S206). Then, the route determination unit 16 sets the parking facility as the destination (step S207). The travel control device 26 acquires destination information from the route determination unit 16 and controls the travel of the vehicle so as to park in a parking facility.
ステップS207の後、およびステップS205において運転者の注意度が第1閾値以上の場合、経路決定装置102はステップS208以降の処理を行う。
After step S207 and in step S205, when the driver's attention level is equal to or higher than the first threshold value, the route determination device 102 performs the processing after step S208.
ステップS207の後、またはステップS205で運転者の注意度が第1閾値以上である場合に、入力受付部15は希望道路の入力があるか否かを判断する(ステップS208)。
After step S207, or when the driver's attention level is equal to or higher than the first threshold value in step S205, the input receiving unit 15 determines whether or not there is an input for the desired road (step S208).
ステップS208において希望道路の入力があれば、経路決定装置102はステップS209からステップS211の処理を行う。ステップS209からステップS211は、図2のステップS108からステップS110と同様である。
If there is an input of the desired road in step S208, the route determination device 102 processes from step S209 to step S211. Steps S209 to S211 are the same as steps S108 to S110 in FIG.
ステップS208において希望道路の入力がなければ、注意度検出部14は運転者の注意度が閾値未満であるか否かを再び判断する(ステップS212)。ステップS212において運転者の注意度が閾値以上である場合、車両の目的地は設定されておらず、主道路が走行経路に決定されている(ステップS204)。この場合、位置検出部12はステップS210の処理に進む。
If there is no input of the desired road in step S208, the caution level detection unit 14 again determines whether or not the driver's caution level is less than the threshold value (step S212). When the driver's attention level is equal to or higher than the threshold value in step S212, the destination of the vehicle is not set and the main road is determined as the traveling route (step S204). In this case, the position detection unit 12 proceeds to the process of step S210.
ステップS212において運転者の注意度が閾値未満である場合、分岐点の手前の駐車施設が目的地に設定されている(ステップS207)。この場合、位置検出部12は車両の位置を検出し(ステップS213)、車両が駐車を完了したか否かを判断する(ステップS214)。ステップS214において車両の駐車が完了していなければ、位置検出部12の処理はステップS213に戻る。位置検出部12は、車両が駐車を完了するまでステップS213とステップS214の処理を繰り返す。
If the driver's attention level is less than the threshold value in step S212, the parking facility in front of the branch point is set as the destination (step S207). In this case, the position detection unit 12 detects the position of the vehicle (step S213) and determines whether or not the vehicle has completed parking (step S214). If the parking of the vehicle is not completed in step S214, the process of the position detection unit 12 returns to step S213. The position detection unit 12 repeats the processes of steps S213 and S214 until the vehicle completes parking.
実施の形態1の経路決定装置101では、運転者の希望道路の入力がない場合に、運転者の注意度に関わらず、常に主道路を車両の走行経路として道なり自動運転制御を行った。これに対して、経路決定装置102では、運転者の希望道路の入力がなく、かつ運転者の注意度が低い場合には、分岐点の手前の駐車施設を車両の目的地に設定し、車両が駐車施設に駐車するようにする。その結果、経路決定装置102によれば、運転者が気づかないうちに主道路を走行し続け、運転者が意図しない方向に車両が走行することが抑制される。
In the route determination device 101 of the first embodiment, when there is no input of the desired road of the driver, the main road is always used as the travel route of the vehicle and automatic driving control is performed regardless of the degree of attention of the driver. On the other hand, in the route determination device 102, when the driver does not input the desired road and the driver's attention is low, the parking facility in front of the branch point is set as the destination of the vehicle, and the vehicle To park in a parking facility. As a result, according to the route determining device 102, the vehicle continues to travel on the main road without the driver noticing, and the vehicle is suppressed from traveling in a direction not intended by the driver.
図8は、経路決定装置102による接近通知のタイミングを示す図である。図8に示すように、車両40が高速道路H1を走行しており、車両の前方には一般道路G1,G2,G3に下りるための分岐点であるインターチェンジIC1,IC2,IC3がある。車両40の時刻tにおける位置をP(t)とする。また、経路決定装置102がインターチェンジIC1,IC2への接近通知を行う時刻をT1,T2とする。T1は、車両40がインターチェンジIC1の手前の駐車施設であるパーキングエリアPA1に到達する10分前であり、T2は、車両40がインターチェンジIC2の手前の駐車施設であるサービスエリアSA1に到達する10分前である。ここで10分前は一例である。
FIG. 8 is a diagram showing the timing of approach notification by the route determination device 102. As shown in FIG. 8, the vehicle 40 is traveling on the highway H1, and in front of the vehicle, there are interchanges IC1, IC2, and IC3 which are branch points for descending to the general roads G1, G2, and G3. Let P (t) be the position of the vehicle 40 at time t. Further, the times when the route determination device 102 notifies the approach to the interchange IC1 and IC2 are T1 and T2. T1 is 10 minutes before the vehicle 40 reaches the parking area PA1 which is the parking facility in front of the interchange IC1, and T2 is 10 minutes before the vehicle 40 reaches the service area SA1 which is the parking facility in front of the interchange IC2. Before. Here, 10 minutes ago is an example.
経路決定装置102は、時刻T1においてインターチェンジIC1への接近を通知する(ステップS206)。運転者の注意度が閾値未満であり、かつ希望道路の入力もなければ、経路決定装置102はパーキングエリアPA1を車両40の目的地に設定し、車両40はパーキングエリアPA1に駐車する。また、運転者の注意度が閾値未満であり、かつ希望道路の入力がなければ、経路決定装置102はインターチェンジIC1を通過し高速道路H1の走行を継続する経路を走行経路に決定する。また、一般道路G1を希望道路とする入力があれば、経路決定装置102はインターチェンジIC1で一般道路G1に下りる経路を走行経路に決定する。
The route determination device 102 notifies the approach to the interchange IC1 at time T1 (step S206). If the driver's attention level is less than the threshold value and there is no input of the desired road, the route determination device 102 sets the parking area PA1 as the destination of the vehicle 40, and the vehicle 40 parks in the parking area PA1. Further, if the driver's attention level is less than the threshold value and there is no input of the desired road, the route determination device 102 determines the route that passes through the interchange IC1 and continues to travel on the expressway H1 as the travel route. Further, if there is an input with the general road G1 as the desired road, the route determination device 102 determines the route going down to the general road G1 as the travel route by the interchange IC1.
経路決定装置102は、インターチェンジIC2についても、同様の動作を行う。
The route determination device 102 performs the same operation for the interchange IC2.
インターチェンジIC3については、インターチェンジIC2との間に駐車施設がない。そのため、経路決定装置102は、インターチェンジIC2のためのサービスエリアSA1までの距離または所要時間を基準に、インターチェンジIC3への接近を報知する。すなわち、経路決定装置102は、サービスエリアSA1に淘汰する10分前のタイミングT2において、インターチェンジIC2への接近報知とインターチェンジIC3への接近報知の両方を同時に行う。
There is no parking facility between the interchange IC3 and the interchange IC2. Therefore, the route determination device 102 notifies the approach to the interchange IC3 based on the distance to the service area SA1 for the interchange IC2 or the required time. That is, the route determination device 102 simultaneously performs both the approach notification to the interchange IC 2 and the approach notification to the interchange IC 3 at the timing T2 10 minutes before the selection to the service area SA1.
<B-3.効果>
実施の形態2の経路決定装置102において、経路決定部16は、希望道路の入力がない場合に、注意度が第1閾値以上であれば主道路を車両の走行経路に決定し、注意度が第1閾値未満であれば分岐点より手前の駐車施設を車両の目的地に決定する。そして、走行制御装置26は、駐車施設が車両の目的地に決定された場合は、駐車施設に車両を停止させる。従って、経路決定装置102は、運転者が気づかないまま、車両が意に反して主道路を走行し続けることを抑制する。 <B-3. Effect>
In the route determination device 102 of the second embodiment, when the desired road is not input, theroute determination unit 16 determines the main road as the traveling route of the vehicle if the caution level is equal to or higher than the first threshold value, and the caution level is determined. If it is less than the first threshold value, the parking facility in front of the branch point is determined as the destination of the vehicle. Then, when the parking facility is determined as the destination of the vehicle, the travel control device 26 stops the vehicle at the parking facility. Therefore, the route determining device 102 suppresses the vehicle from continuing to travel on the main road unintentionally without the driver noticing it.
実施の形態2の経路決定装置102において、経路決定部16は、希望道路の入力がない場合に、注意度が第1閾値以上であれば主道路を車両の走行経路に決定し、注意度が第1閾値未満であれば分岐点より手前の駐車施設を車両の目的地に決定する。そして、走行制御装置26は、駐車施設が車両の目的地に決定された場合は、駐車施設に車両を停止させる。従って、経路決定装置102は、運転者が気づかないまま、車両が意に反して主道路を走行し続けることを抑制する。 <B-3. Effect>
In the route determination device 102 of the second embodiment, when the desired road is not input, the
<C.実施の形態3>
<C-1.構成>
実施の形態3の経路決定装置103の構成は、図1に示した通りであり、実施の形態1の経路決定装置101の構成と同様である。 <C. Embodiment 3>
<C-1. Configuration>
The configuration of the routing device 103 of the third embodiment is as shown in FIG. 1, and is the same as the configuration of therouting device 101 of the first embodiment.
<C-1.構成>
実施の形態3の経路決定装置103の構成は、図1に示した通りであり、実施の形態1の経路決定装置101の構成と同様である。 <C. Embodiment 3>
<C-1. Configuration>
The configuration of the routing device 103 of the third embodiment is as shown in FIG. 1, and is the same as the configuration of the
<C-2.動作>
実施の形態1,2では、規定部13が主従規則に従って分岐点から分岐する複数の道路を主道路と従道路に定めることを前提とした。実施の形態3では、主従規則に従って主道路と従道路を定めることが可能な分岐点を明確分岐点、不可能な分岐点を不明確分岐点と称する。実施の形態2の経路決定装置102は、運転者の注意度が低く、かつ希望道路の入力もない場合に、分岐点手前の駐車施設を車両の目的地とした。これに対して実施の形態3の経路決定装置103は、運転者の注意度が低く、かつ希望道路の入力もない場合に、不明確分岐点に限って分岐点手前の駐車施設を車両の目的地とし、明確分岐点では主道路を車両の走行道路とする。 <C-2. Operation>
In the first and second embodiments, it is premised that theregulation unit 13 defines a plurality of roads branching from the branch point as the main road and the sub road according to the master-slave rule. In the third embodiment, the branch point where the main road and the slave road can be defined according to the master-slave rule is referred to as a clear branch point, and the impossible branch point is referred to as an unclear branch point. In the route determination device 102 of the second embodiment, when the driver's attention is low and there is no input of the desired road, the parking facility in front of the branch point is set as the destination of the vehicle. On the other hand, the route determining device 103 of the third embodiment aims at a parking facility in front of the branch point only at the unclear branch point when the driver's attention is low and there is no input of the desired road. The ground will be the ground, and the main road will be the vehicle's driving road at the clear junction.
実施の形態1,2では、規定部13が主従規則に従って分岐点から分岐する複数の道路を主道路と従道路に定めることを前提とした。実施の形態3では、主従規則に従って主道路と従道路を定めることが可能な分岐点を明確分岐点、不可能な分岐点を不明確分岐点と称する。実施の形態2の経路決定装置102は、運転者の注意度が低く、かつ希望道路の入力もない場合に、分岐点手前の駐車施設を車両の目的地とした。これに対して実施の形態3の経路決定装置103は、運転者の注意度が低く、かつ希望道路の入力もない場合に、不明確分岐点に限って分岐点手前の駐車施設を車両の目的地とし、明確分岐点では主道路を車両の走行道路とする。 <C-2. Operation>
In the first and second embodiments, it is premised that the
図9は、実施の形態3の経路決定装置103の経路決定処理を示すフローチャートである。以下、図9のフローに沿って経路決定装置103の経路決定処理を説明する。図9のフローは、車両が道なり自動運転を開始することにより開始する。
FIG. 9 is a flowchart showing a route determination process of the route determination device 103 of the third embodiment. Hereinafter, the route determination process of the route determination device 103 will be described along with the flow of FIG. The flow of FIG. 9 starts when the vehicle starts automatic driving along the road.
ステップS301からステップS303は、図7のステップS201からステップS203と同様である。ステップS303の後、規定部13は、分岐点が明確分岐点であるか否かを判断する(ステップS303)。
Steps S301 to S303 are the same as steps S201 to S203 in FIG. 7. After step S303, the defining unit 13 determines whether or not the branch point is a clear branch point (step S303).
不明確分岐点の例を以下に示す。例えば、高速道路のジャンクションは、ジャンクションから分岐する複数の道路のいずれを主道路とすべきかを判断するのが困難であるため、不明確分岐点と定義できる。また、一般道路において、分岐点から分岐する複数の道路の間で、道路の名称、種別、接続角度に差がない場合、当該分岐点を不明確分岐点と定義できる。例えば、T字路で左右2方向に分岐する場合に、いずれの道路種別も同等で、いずれの道路の名称も現在走行中の道路名称と異なり、いずれの道路の現在走行している道路との接続角度も同等である場合、当該T字路は不明確分岐点と定義できる。
An example of an unclear branch point is shown below. For example, a highway junction can be defined as an unclear junction because it is difficult to determine which of the multiple roads branching from the junction should be the main road. Further, in a general road, if there is no difference in the name, type, and connection angle of the road among a plurality of roads branching from the branch point, the branch point can be defined as an unclear branch point. For example, when branching in two directions on a T-junction, both road types are the same, and the name of each road is different from the name of the road currently running, and it is the same as the road currently running on any road. If the connection angles are also the same, the T-junction can be defined as an unclear junction.
ステップS303において、分岐点が不明確分岐点であれば、経路決定部16は主道路を走行経路に決定し(ステップS308)、ステップS309の処理に進む。
In step S303, if the branch point is an unclear branch point, the route determination unit 16 determines the main road as a travel route (step S308), and proceeds to the process of step S309.
ステップS303において、分岐点が明確分岐点であれば、注意度検出部14は運転者の注意度が予め定められた第1閾値未満であるか否かを判断する(ステップS305)。ステップS305において、注意度が第1閾値以上であれば、経路決定部16は主道路を走行経路に決定する(ステップS308)。
In step S303, if the branch point is a clear branch point, the attention level detection unit 14 determines whether or not the driver's attention level is less than a predetermined first threshold value (step S305). In step S305, if the degree of attention is equal to or higher than the first threshold value, the route determination unit 16 determines the main road as the travel route (step S308).
ステップS305において、注意度が第1閾値未満であれば、通知部17が接近通知を行い(ステップS306)、経路決定部16が駐車施設を車両の目的地に決定する(ステップS307)。ステップS306およびステップS307は、図7のステップS206およびステップS207と同様である。
In step S305, if the degree of attention is less than the first threshold value, the notification unit 17 gives an approach notification (step S306), and the route determination unit 16 determines the parking facility as the destination of the vehicle (step S307). Step S306 and step S307 are the same as step S206 and step S207 in FIG.
ステップS307またはステップS308の後、経路決定装置103はステップS309以降の処理を行う。ステップS309からステップS315は、図7のステップS208からステップS214と同様である。
After step S307 or step S308, the route determination device 103 performs the processing after step S309. Steps S309 to S315 are the same as steps S208 to S214 of FIG. 7.
<C-3.効果>
実施の形態3の経路決定装置103において、分岐点は、複数の道路を主従規則に基づき主道路および従道路に規定することが可能な明確分岐点と、複数の道路を主従道路規則に基づき主道路および従道路に規定することが不可能な不明確分岐点とに区分される。そして、経路決定部16は、希望道路の入力がなく、かつ注意度が第1閾値未満である場合に、分岐点が明確分岐点であれば、主道路を車両の走行経路に決定し、分岐点が不明確分岐点であれば、分岐点より手前の駐車施設を車両の目的地に決定する。このように、経路決定装置103によれば、明確分岐点に対して希望道路の入力がなく、かつ注意度が第1閾値未満であっても、車両は主道路がユーザの意図する方向であると推定して、車両の走行経路に決定する。従って、車両を駐車施設に停止させる頻度を小さくすることができる。 <C-3. Effect>
In the route determination device 103 of the third embodiment, the branch point is a clear branch point capable of defining a plurality of roads as a main road and a slave road based on the master-slave rule, and a plurality of roads based on the master-slave road rule. It is divided into unclear junctions that cannot be defined for roads and secondary roads. Then, theroute determination unit 16 determines the main road as the traveling route of the vehicle if the branch point is a clear branch point when there is no input of the desired road and the degree of attention is less than the first threshold value, and the branch is made. If the point is an unclear turning point, the parking facility in front of the turning point is determined as the destination of the vehicle. As described above, according to the route determination device 103, even if there is no input of the desired road for the clear branch point and the attention level is less than the first threshold value, the vehicle is in the direction intended by the user on the main road. It is estimated that the vehicle travel route is determined. Therefore, the frequency of stopping the vehicle in the parking facility can be reduced.
実施の形態3の経路決定装置103において、分岐点は、複数の道路を主従規則に基づき主道路および従道路に規定することが可能な明確分岐点と、複数の道路を主従道路規則に基づき主道路および従道路に規定することが不可能な不明確分岐点とに区分される。そして、経路決定部16は、希望道路の入力がなく、かつ注意度が第1閾値未満である場合に、分岐点が明確分岐点であれば、主道路を車両の走行経路に決定し、分岐点が不明確分岐点であれば、分岐点より手前の駐車施設を車両の目的地に決定する。このように、経路決定装置103によれば、明確分岐点に対して希望道路の入力がなく、かつ注意度が第1閾値未満であっても、車両は主道路がユーザの意図する方向であると推定して、車両の走行経路に決定する。従って、車両を駐車施設に停止させる頻度を小さくすることができる。 <C-3. Effect>
In the route determination device 103 of the third embodiment, the branch point is a clear branch point capable of defining a plurality of roads as a main road and a slave road based on the master-slave rule, and a plurality of roads based on the master-slave road rule. It is divided into unclear junctions that cannot be defined for roads and secondary roads. Then, the
<D.実施の形態4>
<D-1.構成>
図10は、実施の形態4の経路決定装置104の構成を示すブロック図である。経路決定装置104は、実施の形態1-3の経路決定装置101-103の構成に加えて、許可条件記憶部18を備えている。許可条件記憶部18は、許可条件を記憶している。許可条件とは、運転者の注意度が第1の閾値未満であっても、車両に道なり自動運転を継続させることが可能な条件である。以下、許可条件を満たす分岐点を許可分岐点と称する。 <D. Embodiment 4>
<D-1. Configuration>
FIG. 10 is a block diagram showing the configuration of therouting device 104 according to the fourth embodiment. The route determination device 104 includes a permission condition storage unit 18 in addition to the configuration of the route determination device 101-103 of the first to third embodiments. The permission condition storage unit 18 stores the permission condition. The permission condition is a condition that allows the vehicle to continue automatic driving along the road even if the driver's attention level is less than the first threshold value. Hereinafter, the branch point satisfying the permission condition is referred to as a permission branch point.
<D-1.構成>
図10は、実施の形態4の経路決定装置104の構成を示すブロック図である。経路決定装置104は、実施の形態1-3の経路決定装置101-103の構成に加えて、許可条件記憶部18を備えている。許可条件記憶部18は、許可条件を記憶している。許可条件とは、運転者の注意度が第1の閾値未満であっても、車両に道なり自動運転を継続させることが可能な条件である。以下、許可条件を満たす分岐点を許可分岐点と称する。 <D. Embodiment 4>
<D-1. Configuration>
FIG. 10 is a block diagram showing the configuration of the
<D-2.動作>
経路決定部16は、車両の前方の分岐点が許可分岐点であるか否かを判断する。そして、経路決定部16は、許可分岐点においては、運転者の注意度が第1の閾値未満であり、かつ希望道路の入力が無くても、主道路を走行道路に決定し、車両に道なり自動運転を継続させる。また、経路決定部16は、許可分岐点でない分岐点においては、運転者の注意度が第1の閾値未満であり、かつ希望道路の入力が無い場合には、分岐点の手前の駐車施設を車両の目的地とし、車両の道なり自動運転を終了させる。その他の点で、経路決定装置104の動作は実施の形態2の経路決定装置102と同様である。 <D-2. Operation>
Theroute determination unit 16 determines whether or not the branch point in front of the vehicle is a permitted branch point. Then, at the permission branch point, the route determination unit 16 determines the main road as the driving road even if the driver's attention level is less than the first threshold value and there is no input of the desired road, and the road to the vehicle. Continue automatic operation. Further, when the driver's attention level is less than the first threshold value and there is no input of the desired road at the branch point other than the permitted branch point, the route determination unit 16 sets the parking facility in front of the branch point. Set as the destination of the vehicle and end the automatic driving along the road of the vehicle. In other respects, the operation of the routing device 104 is similar to that of the routing device 102 of the second embodiment.
経路決定部16は、車両の前方の分岐点が許可分岐点であるか否かを判断する。そして、経路決定部16は、許可分岐点においては、運転者の注意度が第1の閾値未満であり、かつ希望道路の入力が無くても、主道路を走行道路に決定し、車両に道なり自動運転を継続させる。また、経路決定部16は、許可分岐点でない分岐点においては、運転者の注意度が第1の閾値未満であり、かつ希望道路の入力が無い場合には、分岐点の手前の駐車施設を車両の目的地とし、車両の道なり自動運転を終了させる。その他の点で、経路決定装置104の動作は実施の形態2の経路決定装置102と同様である。 <D-2. Operation>
The
図11は、実施の形態4の経路決定装置104による経路決定処理を示すフローチャートである。以下、図11のフローに沿って経路決定装置104の経路決定処理を説明する。図11のフローは、車両が道なり自動運転を開始することにより開始する。ステップS401からステップS406は、図7のステップS201からステップS206と同様である。
FIG. 11 is a flowchart showing a route determination process by the route determination device 104 of the fourth embodiment. Hereinafter, the route determination process of the route determination device 104 will be described along with the flow of FIG. The flow of FIG. 11 starts when the vehicle starts automatic driving along the road. Steps S401 to S406 are the same as steps S201 to S206 in FIG. 7.
運転者の注意度が第1閾値未満である場合には(ステップS405でNo)、通知部17が接近通知を行う(ステップS406)。その後、経路決定部16は、車両の前方の分岐点が許可分岐点であるか否かを判断する(ステップS407)。ステップS407において分岐点が許可分岐点でなければ、経路決定部16は、ステップS404で決定した主道路の走行経路を解消し、分岐点の手前の駐車施設を目的地に決定する(ステップS408)。そして、経路決定装置104の処理はステップS409へ移行する。ステップS407において分岐点が許可分岐点でなければ、経路決定装置104は、主道路を走行経路としたままステップS409の処理へ移行する。
When the driver's attention level is less than the first threshold value (No in step S405), the notification unit 17 gives an approach notification (step S406). After that, the route determination unit 16 determines whether or not the branch point in front of the vehicle is a permitted branch point (step S407). If the branch point is not a permitted branch point in step S407, the route determination unit 16 eliminates the travel route of the main road determined in step S404 and determines the parking facility in front of the branch point as the destination (step S408). .. Then, the process of the route determination device 104 shifts to step S409. If the branch point is not the permitted branch point in step S407, the route determination device 104 shifts to the process of step S409 while keeping the main road as the traveling route.
ステップS409からステップS415は、図7のステップS208からステップS214と同様である。
Steps S409 to S415 are the same as steps S208 to S214 of FIG.
<D-3.許可分岐点>
図12は、ユーザが所定のHMI処理によって設定した許可エリアA1を示している。許可エリアとは、運転者の注意度に関わらず車両の道なり自動運転制御が可能なエリアとして定められた特定のエリアである。つまり、許可エリアA1は、許可条件を地理的なエリアとして定めたものである。許可エリアA1の情報は、許可条件記憶部18に許可条件として記憶される。図12において、許可エリアA1内の分岐点であるインターチェンジIC1,IC2,IC3は許可分岐点であり、許可エリアA1外の分岐点であるインターチェンジIC4は許可分岐点ではない。 <D-3. Permit branch point>
FIG. 12 shows the permission area A1 set by the user by a predetermined HMI process. The permitted area is a specific area defined as an area where automatic driving control is possible along the road of the vehicle regardless of the degree of attention of the driver. That is, the permission area A1 defines the permission conditions as a geographical area. The information of the permission area A1 is stored in the permissioncondition storage unit 18 as a permission condition. In FIG. 12, interchange IC1, IC2, and IC3, which are branch points in the permitted area A1, are permitted branch points, and interchange IC4, which is a branch point outside the permitted area A1, is not a permitted branch point.
図12は、ユーザが所定のHMI処理によって設定した許可エリアA1を示している。許可エリアとは、運転者の注意度に関わらず車両の道なり自動運転制御が可能なエリアとして定められた特定のエリアである。つまり、許可エリアA1は、許可条件を地理的なエリアとして定めたものである。許可エリアA1の情報は、許可条件記憶部18に許可条件として記憶される。図12において、許可エリアA1内の分岐点であるインターチェンジIC1,IC2,IC3は許可分岐点であり、許可エリアA1外の分岐点であるインターチェンジIC4は許可分岐点ではない。 <D-3. Permit branch point>
FIG. 12 shows the permission area A1 set by the user by a predetermined HMI process. The permitted area is a specific area defined as an area where automatic driving control is possible along the road of the vehicle regardless of the degree of attention of the driver. That is, the permission area A1 defines the permission conditions as a geographical area. The information of the permission area A1 is stored in the permission
図12に示す状況で経路決定装置104が図11のフローを実行すると、以下の結果となる。注意度が第1閾値以上の場合、経路決定装置104は特段の接近通知を行わない。そして、車両40は、ユーザが希望道路の入力を行った場合には、希望道路を各分岐点における走行経路とし、ユーザが希望道路の入力を行わなかった場合には、主道路を各分岐点における走行経路として、走行する。
When the routing device 104 executes the flow of FIG. 11 in the situation shown in FIG. 12, the following results are obtained. When the attention level is equal to or higher than the first threshold value, the route determination device 104 does not give a special approach notification. Then, when the user inputs the desired road, the vehicle 40 uses the desired road as a traveling route at each branch point, and when the user does not input the desired road, the vehicle 40 uses the main road as each branch point. Travel as a travel route in.
注意度が第1閾値未満の場合、経路決定装置104は、許可分岐点であるインターチェンジIC1,IC2,IC3に関しては、それらの手前の駐車施設の前でユーザに第1接近通知を行う。ここで、インターチェンジIC1の手前の駐車施設はパーキングエリアPA1であり、インターチェンジIC3の手前の駐車施設はサービスエリアSA1である。また、インターチェンジIC1,IC2の間には駐車施設がないため、インターチェンジIC2の手前の駐車施設はパーキングエリアPA1となる。そして、車両40は、ユーザが希望道路の入力を行った場合には、希望道路を各分岐点における走行経路とし、ユーザが希望道路の入力を行わなかった場合には、各許可分岐点の手前の駐車施設で停止する。
When the degree of caution is less than the first threshold value, the route determination device 104 notifies the user of the first approach to the interchange IC1, IC2, and IC3, which are the permission branch points, in front of the parking facility in front of them. Here, the parking facility in front of the interchange IC1 is the parking area PA1, and the parking facility in front of the interchange IC3 is the service area SA1. Further, since there is no parking facility between the interchange IC1 and IC2, the parking facility in front of the interchange IC2 is the parking area PA1. Then, when the user inputs the desired road, the vehicle 40 uses the desired road as a traveling route at each branch point, and when the user does not input the desired road, the vehicle 40 is in front of each permitted branch point. Stop at the parking facility.
注意度が第1閾値未満の場合、経路決定装置104は、許可分岐点であるインターチェンジIC4に関しては、インターチェンジIC4の手前の駐車施設であるサービスエリアSA2で自動的に駐車する。
When the caution level is less than the first threshold value, the route determination device 104 automatically parks the interchange IC4, which is a permitted branch point, in the service area SA2, which is a parking facility in front of the interchange IC4.
なお、ユーザが設定する許可エリアA1が、図12に示すようにインターチェンジIC3,IC4の間にあり、インターチェンジIC4が許可エリアA1に属するか否かが紛らわしい場合には、経路決定部16は、許可エリアA1を図13に示す許可エリアRA1のように補正してもよい。許可エリアRA1は、インターチェンジIC3を境界とするように設定されており、インターチェンジIC3が許可エリアRA1内、インターチェンジIC3が許可エリアRA1外にあることが明確になっている。
If the permission area A1 set by the user is between the interchange ICs 3 and IC4 as shown in FIG. 12, and it is confusing whether or not the interchange IC4 belongs to the permission area A1, the route determination unit 16 permits. The area A1 may be corrected as in the permitted area RA1 shown in FIG. The permitted area RA1 is set so as to have the interchange IC3 as a boundary, and it is clarified that the interchange IC3 is inside the permitted area RA1 and the interchange IC3 is outside the permitted area RA1.
<D-4.許可条件の変形例>
図12では、ユーザが設定した許可エリアを示した。しかし、許可エリアは種々の条件に応じて自動的に設定されてもよい。この場合、経路決定部16は、許可エリアを設定して許可条件記憶部18に格納する。例えば、経路決定部16は、車両の過去の走行履歴に基づき、車両が過去に1回でも走行したことのある道路を許可エリアとしてもよい。あるいは、経路決定部16は、車両が過去に一定の頻度以上で走行した道路を、許可エリアとしてもよい。 <D-4. Modification example of permission condition>
FIG. 12 shows a permission area set by the user. However, the permitted area may be automatically set according to various conditions. In this case, theroute determination unit 16 sets the permission area and stores it in the permission condition storage unit 18. For example, the route determination unit 16 may set a road on which the vehicle has traveled even once in the past as a permitted area based on the past travel history of the vehicle. Alternatively, the route determination unit 16 may use a road on which the vehicle has traveled more than a certain frequency in the past as a permitted area.
図12では、ユーザが設定した許可エリアを示した。しかし、許可エリアは種々の条件に応じて自動的に設定されてもよい。この場合、経路決定部16は、許可エリアを設定して許可条件記憶部18に格納する。例えば、経路決定部16は、車両の過去の走行履歴に基づき、車両が過去に1回でも走行したことのある道路を許可エリアとしてもよい。あるいは、経路決定部16は、車両が過去に一定の頻度以上で走行した道路を、許可エリアとしてもよい。 <D-4. Modification example of permission condition>
FIG. 12 shows a permission area set by the user. However, the permitted area may be automatically set according to various conditions. In this case, the
また、経路決定部16は、特定のPOI(Point Of Interest)から予め定められた距離内にある領域など、POIを基準とした一定の範囲を許可エリアとしてもよい。この例では、自宅の駐車場、または会社通勤に利用する駐車場から100kmの範囲内が許可エリアと設定される。
Further, the route determination unit 16 may set a certain range based on the POI as a permitted area, such as an area within a predetermined distance from a specific POI (Point Of Interest). In this example, the permitted area is set within a range of 100 km from the parking lot at home or the parking lot used for company commuting.
また、特定のPOIが仮目的地として設定されている場合には、経路決定部16は、仮目的地に対して寄り道とならない範囲を許可エリアとしてもよい。具体的には、経路決定部16は、ある分岐点において、主道路を走行して仮目的地に到達するまでの走行コストを第1走行コストとして計算し、同じ分岐点において従道路を走行して仮目的地に到達するまでの走行コストを第2走行コストとして計算する。ここで、走行コストは、仮目的地に到達するまでの距離または時間を含む。そして、経路決定部16は、第1走行コストが第2走行コスト以下となる分岐点のみを許可分岐点と判定する。この例では、仮目的地を自宅とすれば、外出先から寄り道せず、適切な道路を走行して道なり自動運転で自宅へ帰ることが可能である。
Further, when a specific POI is set as a temporary destination, the route determination unit 16 may set a range that does not become a detour to the temporary destination as a permitted area. Specifically, the route determination unit 16 calculates the traveling cost from traveling on the main road to reaching the temporary destination as the first traveling cost at a certain branch point, and travels on the secondary road at the same branch point. The running cost to reach the temporary destination is calculated as the second running cost. Here, the traveling cost includes the distance or time to reach the temporary destination. Then, the route determination unit 16 determines only the branch point where the first running cost is equal to or less than the second running cost as the permitted branch point. In this example, if the temporary destination is home, it is possible to drive on an appropriate road and return to home by automatic driving without detouring from outside.
また、経路決定部16は、車両が道なり自動運転を開始した地点から150kmなど、予め定められた距離内の分岐点を許可分岐点と判定してもよい。また、経路決定部16は、車両が道なり自動運転を開始してから1時間以内など、予め定められた時間内に車両が走行する分岐点を許可分岐点と判定してもよい。
Further, the route determination unit 16 may determine a branch point within a predetermined distance, such as 150 km from the point where the vehicle follows the road and starts automatic driving, as a permitted branch point. Further, the route determination unit 16 may determine a branch point in which the vehicle travels within a predetermined time, such as within one hour after the vehicle starts automatic driving on the road, as a permitted branch point.
また、経路決定部16は、運転者の注意度が予め定められた閾値未満に低下した後、75kmなど予め定められた距離内の分岐点、または30分など予め定められた時間内に車両が走行する分岐点を、許可分岐点と判定してもよい。
Further, in the route determination unit 16, after the driver's attention level drops below a predetermined threshold value, the vehicle can move to a branch point within a predetermined distance such as 75 km or within a predetermined time such as 30 minutes. The traveling branch point may be determined as a permitted branch point.
<D-5.効果>
実施の形態4の経路決定装置104において、経路決定部16は、分岐点が、予め定められた許可条件を満たす許可分岐点であるか否かを判定し、希望道路の入力がなく、かつ注意度が第1閾値未満である場合に、分岐点が許可分岐点である場合、主道路を車両の走行経路に決定し、分岐点が許可分岐点でない場合、分岐点より手前の駐車施設を車両の目的地に決定する。従って、経路決定装置104は、運転者の注意度が低く、かつ運転者から希望道路の入力がない場合に、許可分岐点においてのみ道なり自動運転を継続させ、それ以外の分岐点では車両を駐車施設に停止させることができる。 <D-5. Effect>
In theroute determination device 104 of the fourth embodiment, the route determination unit 16 determines whether or not the branch point is a permit branch point satisfying a predetermined permission condition, and there is no input of a desired road and caution is taken. If the degree is less than the first threshold and the branch point is the permitted branch point, the main road is determined as the travel route of the vehicle, and if the branch point is not the permitted branch point, the parking facility in front of the branch point is used as the vehicle. Decide on your destination. Therefore, when the driver's attention is low and the driver does not input the desired road, the route determining device 104 continues the automatic driving only at the permitted branch point, and the vehicle is stopped at the other branch points. It can be stopped at a parking facility.
実施の形態4の経路決定装置104において、経路決定部16は、分岐点が、予め定められた許可条件を満たす許可分岐点であるか否かを判定し、希望道路の入力がなく、かつ注意度が第1閾値未満である場合に、分岐点が許可分岐点である場合、主道路を車両の走行経路に決定し、分岐点が許可分岐点でない場合、分岐点より手前の駐車施設を車両の目的地に決定する。従って、経路決定装置104は、運転者の注意度が低く、かつ運転者から希望道路の入力がない場合に、許可分岐点においてのみ道なり自動運転を継続させ、それ以外の分岐点では車両を駐車施設に停止させることができる。 <D-5. Effect>
In the
<E.ハードウェア構成>
上述した経路決定装置101-104における、地図記憶部11、位置検出部12、規定部13、注意度検出部14、入力受付部15、経路決定部16、通知部17および許可条件記憶部18は、図14に示す処理回路81により実現される。すなわち、処理回路81は、地図記憶部11、位置検出部12、規定部13、注意度検出部14、入力受付部15、経路決定部16および通知部17(以下、「経路決定部16等」と称する)を備える。処理回路81には、専用のハードウェアが適用されても良いし、メモリに格納されるプログラムを実行するプロセッサが適用されても良い。プロセッサは、例えば中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、DSP(Digital Signal Processor)等である。 <E. Hardware configuration>
In the above-mentioned route determination device 101-104, themap storage unit 11, the position detection unit 12, the regulation unit 13, the attention level detection unit 14, the input reception unit 15, the route determination unit 16, the notification unit 17, and the permission condition storage unit 18 , Realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 includes a map storage unit 11, a position detection unit 12, a regulation unit 13, an attention level detection unit 14, an input reception unit 15, a route determination unit 16, and a notification unit 17 (hereinafter, “route determination unit 16 and the like””. ). Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied. The processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
上述した経路決定装置101-104における、地図記憶部11、位置検出部12、規定部13、注意度検出部14、入力受付部15、経路決定部16、通知部17および許可条件記憶部18は、図14に示す処理回路81により実現される。すなわち、処理回路81は、地図記憶部11、位置検出部12、規定部13、注意度検出部14、入力受付部15、経路決定部16および通知部17(以下、「経路決定部16等」と称する)を備える。処理回路81には、専用のハードウェアが適用されても良いし、メモリに格納されるプログラムを実行するプロセッサが適用されても良い。プロセッサは、例えば中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、DSP(Digital Signal Processor)等である。 <E. Hardware configuration>
In the above-mentioned route determination device 101-104, the
処理回路81が専用のハードウェアである場合、処理回路81は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ASIC(Application Specific Integrated Circuit)、FPGA(Field-Programmable Gate Array)、またはこれらを組み合わせたものが該当する。~部等の各部の機能それぞれは、複数の処理回路81で実現されてもよいし、各部の機能をまとめて一つの処理回路で実現されてもよい。
When the processing circuit 81 is dedicated hardware, the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable). GateArray), or a combination of these. Each of the functions of each part such as a part may be realized by a plurality of processing circuits 81, or the functions of each part may be collectively realized by one processing circuit.
処理回路81がプロセッサである場合、経路決定部16等の機能は、ソフトウェア等(ソフトウェア、ファームウェアまたはソフトウェアとファームウェア)との組み合わせにより実現される。ソフトウェア等はプログラムとして記述され、メモリに格納される。図15に示すように、処理回路81に適用されるプロセッサ82は、メモリ83に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、経路決定装置101-104は、処理回路81により実行されるときに、主従規則に基づき、車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路と規定するステップと、車両の走行に対するユーザの注意度を検出するステップと、注意度が予め定められた第1閾値未満である場合に、ユーザに車両の分岐点への接近を通知するステップと、複数の道路のうちユーザが走行を希望する道路である希望道路の入力を受け付けるステップと、希望道路の入力があれば希望道路を車両の走行経路とし、希望道路の入力がなければ主道路を車両の走行経路とするステップと、が結果的に実行されることになるプログラムを格納するためのメモリ83を備える。換言すれば、このプログラムは、経路決定部16等の手順または方法をコンピュータに実行させるものであるともいえる。ここで、メモリ83には、例えば、RAM(Random Access Memory)、ROM(Read Only Memory)、フラッシュメモリ、EPROM(Erasable Programmable Read Only Memory)、EEPROM(Electrically Erasable Programmable Read Only Memory)などの、不揮発性または揮発性の半導体メモリ、HDD(Hard Disk Drive)、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、DVD(Digital Versatile Disk)及びそのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。
When the processing circuit 81 is a processor, the functions of the routing unit 16 and the like are realized by a combination of software and the like (software, firmware or software and firmware). Software and the like are described as programs and stored in memory. As shown in FIG. 15, the processor 82 applied to the processing circuit 81 realizes the functions of each part by reading and executing the program stored in the memory 83. That is, when the route determination device 101-104 is executed by the processing circuit 81, the step defines one of the plurality of roads branching from the branch point in front of the vehicle as the main road based on the master-slave rule. , A step of detecting the user's attention to the running of the vehicle, a step of notifying the user of the approach of the vehicle to the branch point when the attention is less than a predetermined first threshold, and a step of a plurality of roads. Of these, the step of accepting the input of the desired road, which is the road the user wants to drive, and the desired road as the vehicle's travel route if there is an input of the desired road, and the main road as the vehicle's travel route if there is no input of the desired road. And the memory 83 for storing the program to be executed as a result. In other words, it can be said that this program causes the computer to execute the procedure or method of the routing unit 16 or the like. Here, the memory 83 is non-volatile, such as a RAM (RandomAccessMemory), a ROM (ReadOnlyMemory), a flash memory, an EPROM (ErasableProgrammableReadOnlyMemory), and an EEPROM (Electrically ErasableProgrammableReadOnlyMemory). Or with volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk) and its drive device, etc., or any storage medium used in the future. There may be.
以上、経路決定部16等の各機能が、ハードウェア及びソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、経路決定部16等の一部を専用のハードウェアで実現し、別の一部をソフトウェア等で実現する構成であってもよい。例えば経路決定部16については専用のハードウェアとしての処理回路でその機能を実現し、それ以外についてはプロセッサ82としての処理回路81がメモリ83に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。
The configuration in which each function of the routing unit 16 and the like is realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration may be configured in which a part of the routing unit 16 or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the routing unit 16 realizes its function by a processing circuit as dedicated hardware, and other than that, the processing circuit 81 as a processor 82 reads and executes a program stored in the memory 83 to execute the function. It is possible to realize.
以上のように、処理回路は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。なお、地図記憶部11および許可条件記憶部18は、メモリ83から構成されるが、それらは単一のメモリ83から構成されてもよいし、それぞれが個別のメモリから構成されてもよい。
As described above, the processing circuit can realize each of the above-mentioned functions by hardware, software, or a combination thereof. The map storage unit 11 and the permission condition storage unit 18 are composed of a memory 83, but they may be composed of a single memory 83 or each may be composed of an individual memory.
経路決定装置101-104は、典型的には車載装置であるが、PND(Portable Navigation Device)、通信端末(例えば携帯電話、スマートフォン、およびタブレットなどの携帯端末)、およびこれらにインストールされるアプリケーションの機能、並びにサーバなどを適宜に組み合わせてシステムとして構築される経路決定システムにも適用することができる。この場合、以上で説明した経路決定装置101-104の各機能または各構成要素は、経路決定システムを構築する各機器に分散して配置されてもよいし、いずれかの機器に集中して配置されてもよい。
The routing device 101-104 is typically an in-vehicle device, but is a PND (Portable Navigation Device), a communication terminal (for example, a mobile terminal such as a mobile phone, a smartphone, and a tablet), and an application installed on the PND (Portable Navigation Device). It can also be applied to a routing system constructed as a system by appropriately combining functions and servers. In this case, each function or each component of the routing apparatus 101-104 described above may be distributed and arranged in each device for constructing the routing system, or may be centrally arranged in any one of the devices. May be done.
図16は、車両とサーバによる経路決定装置104の構成例を示している。図16において、地図記憶部11、規定部13、経路決定部16および許可条件記憶部18がサーバに配置され、位置検出部12、注意度検出部14、入力受付部15および通知部17が車両に配置されている。
FIG. 16 shows a configuration example of a route determination device 104 using a vehicle and a server. In FIG. 16, the map storage unit 11, the regulation unit 13, the route determination unit 16, and the permission condition storage unit 18 are arranged on the server, and the position detection unit 12, the attention level detection unit 14, the input reception unit 15, and the notification unit 17 are vehicles. Is located in.
なお、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略したりすることが可能である。上記の説明は、すべての態様において、例示である。例示されていない無数の変形例が想定され得るものと解される。
It is possible to freely combine each embodiment, and to appropriately modify or omit each embodiment. The above description is exemplary in all embodiments. It is understood that innumerable variations not illustrated can be assumed.
11 地図記憶部、12 位置検出部、13 規定部、14 注意度検出部、15 入力受付部、16 経路決定部、17 通知部、18 許可条件記憶部、21 測位装置、22 ドライバモニタリング装置、23 入力装置、24 表示装置、25 スピーカー、26 走行制御装置、81 処理回路、82 プロセッサ、83 メモリ、101-104 経路決定装置。
11 map storage unit, 12 position detection unit, 13 regulation unit, 14 caution level detection unit, 15 input reception unit, 16 route determination unit, 17 notification unit, 18 permission condition storage unit, 21 positioning device, 22 driver monitoring device, 23 Input device, 24 display device, 25 speaker, 26 drive control device, 81 processing circuit, 82 processor, 83 memory, 101-104 route determination device.
Claims (11)
- 走行制御装置に制御されて自動運転を行う車両の、走行経路を決定する経路決定装置であって、
予め定められた主従規則に基づき、前記車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路、他の道路を従道路と規定する規定部と、
前記車両の走行に対するユーザの注意度を検出する注意度検出部と、
前記注意度が予め定められた第1閾値未満である場合に、前記ユーザに前記車両の前記分岐点への接近を通知する通知部と、
前記複数の道路のうち前記ユーザが走行を希望する道路である希望道路の入力を受け付ける入力受付部と、
前記希望道路の入力があれば前記希望道路を前記車両の走行経路とし、前記希望道路の入力がなければ前記主道路を前記車両の走行経路とする、経路決定部と、を備える、
経路決定装置。 It is a route determination device that determines the travel route of a vehicle that is controlled by a travel control device and performs automatic driving.
Based on the predetermined master-slave rules, one of the multiple roads branching from the branch point in front of the vehicle is defined as the main road, and the other road is defined as the slave road.
An attention level detection unit that detects the user's attention level to the running of the vehicle,
A notification unit that notifies the user of the approach of the vehicle to the branch point when the caution level is less than a predetermined first threshold value.
An input reception unit that accepts input of a desired road, which is a road that the user wants to drive among the plurality of roads.
A route determination unit is provided, wherein if there is an input of the desired road, the desired road is used as the traveling route of the vehicle, and if there is no input of the desired road, the main road is used as the traveling route of the vehicle.
Routing device. - 前記通知部は、前記注意度が前記第1閾値以上である場合に、前記注意度が前記第1閾値未満である場合よりも、前記ユーザの知覚度が低い態様で前記車両の前記分岐点への接近を通知する、
請求項1に記載の経路決定装置。 When the attention level is equal to or higher than the first threshold value, the notification unit reaches the branch point of the vehicle in a manner in which the user's perception level is lower than when the attention level is less than the first threshold value. Notify the approach of
The routing device according to claim 1. - 前記経路決定部は、前記希望道路の入力がない場合に、
前記注意度が前記第1閾値以上であれば前記主道路を前記車両の走行経路に決定し、
前記注意度が前記第1閾値未満であれば前記分岐点より手前の駐車施設を前記車両の目的地に決定し、
前記走行制御装置は、前記駐車施設が前記車両の目的地に決定された場合は、前記駐車施設に前記車両を停止させる、
請求項1に記載の経路決定装置。 The route determination unit is used when there is no input of the desired road.
If the degree of caution is equal to or higher than the first threshold value, the main road is determined as the traveling route of the vehicle.
If the degree of caution is less than the first threshold value, the parking facility in front of the branch point is determined as the destination of the vehicle.
The travel control device causes the parking facility to stop the vehicle when the parking facility is determined to be the destination of the vehicle.
The routing device according to claim 1. - 前記分岐点は、前記主従規則に基づき前記主道路を規定することが可能な明確分岐点と、前記主従規則に基づき前記主道路を規定することが不可能な不明確分岐点とに区分され、
前記経路決定部は、前記希望道路の入力がなく、かつ前記注意度が前記第1閾値未満である場合に、
前記分岐点が前記明確分岐点であれば、前記主道路を前記車両の走行経路に決定し、
前記分岐点が前記不明確分岐点であれば、前記分岐点より手前の駐車施設を前記車両の目的地に決定する、
請求項3に記載の経路決定装置。 The branch point is divided into a clear branch point where the main road can be defined based on the master-slave rule and an unclear branch point where the main road cannot be defined based on the master-slave rule.
When the desired road is not input and the caution level is less than the first threshold value, the route determination unit determines the route.
If the branch point is the clear branch point, the main road is determined as the traveling route of the vehicle.
If the branch point is the unclear branch point, the parking facility in front of the branch point is determined as the destination of the vehicle.
The routing device according to claim 3. - 前記経路決定部は、
前記分岐点が、予め定められた許可条件を満たす許可分岐点であるか否かを判定し、
前記希望道路の入力がなく、かつ前記注意度が前記第1閾値未満である場合に、
前記分岐点が前記許可分岐点である場合、前記主道路を前記車両の走行経路に決定し、
前記分岐点が前記許可分岐点でない場合、前記分岐点より手前の駐車施設を前記車両の目的地に決定する、
請求項3に記載の経路決定装置。 The routing unit
It is determined whether or not the branch point is a permission branch point that satisfies a predetermined permission condition, and the branch point is determined.
When there is no input of the desired road and the caution level is less than the first threshold value.
When the branch point is the permitted branch point, the main road is determined as the travel route of the vehicle.
If the branch point is not the permitted branch point, the parking facility in front of the branch point is determined as the destination of the vehicle.
The routing device according to claim 3. - 前記許可条件は、予め定められた許可エリアに位置することである、
請求項5に記載の経路決定装置。 The permission condition is to be located in a predetermined permission area.
The routing device according to claim 5. - 前記許可エリアは、前記ユーザにより定められる、
請求項6に記載の経路決定装置。 The permission area is defined by the user.
The routing apparatus according to claim 6. - 前記許可エリアは、前記車両の走行履歴に基づき定められる、
請求項6に記載の経路決定装置。 The permitted area is determined based on the traveling history of the vehicle.
The routing apparatus according to claim 6. - 前記許可エリアは、予め定められたPOIから予め定められた距離内のエリアである、
請求項6に記載の経路決定装置。 The permitted area is an area within a predetermined distance from a predetermined POI.
The routing apparatus according to claim 6. - 前記経路決定部は、
前記車両が前記分岐点から前記主道路を走行して前記目的地へ到達するまでの第1走行コストが、前記車両が前記分岐点から前記従道路を走行して前記車両の目的地へ到達するまでの第2走行コスト以下となる前記分岐点を、前記許可分岐点と判定する、
請求項5に記載の経路決定装置。 The routing unit
The first traveling cost for the vehicle to travel on the main road from the branch point and reach the destination is the first travel cost for the vehicle to travel on the secondary road from the branch point and reach the destination of the vehicle. The branch point that is equal to or less than the second running cost up to is determined to be the permitted branch point.
The routing device according to claim 5. - 走行制御装置に制御されて自動運転を行う車両の、走行経路を決定する経路決定方法であって、
予め定められた主従規則に基づき、前記車両の前方の分岐点から分岐する複数の道路のうち1つの道路を主道路、他の道路を従道路と規定し、
前記車両の走行に対するユーザの注意度を検出し、
前記注意度が予め定められた第1閾値未満である場合に、前記ユーザに前記車両の前記分岐点への接近を通知し、
前記複数の道路のうち前記ユーザが走行を希望する道路である希望道路の入力を受け付け、
前記希望道路の入力があれば前記希望道路を前記車両の走行経路とし、前記希望道路の入力がなければ前記主道路を前記車両の走行経路とする、
経路決定方法。 It is a route determination method for determining a travel route of a vehicle that is controlled by a travel control device and automatically drives.
Based on the predetermined master-slave rules, one of the multiple roads branching from the branch point in front of the vehicle is defined as the main road, and the other road is defined as the secondary road.
Detecting the user's attention to the running of the vehicle,
When the caution level is less than a predetermined first threshold value, the user is notified of the approach of the vehicle to the branch point.
Accepting the input of the desired road, which is the road that the user wants to drive among the plurality of roads,
If there is an input of the desired road, the desired road is used as the traveling route of the vehicle, and if there is no input of the desired road, the main road is used as the traveling route of the vehicle.
Route determination method.
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